Others; Speed Limit; Torque Limit - Delta ASD-B2-0121-B User Manual

6.6 Others

6.6.1 Speed Limit

The max. servo motor speed can be limited by using parameter P1-55 no matter in
position, speed or torque control mode.
The command source of speed limit command is the same as speed command. It can be
the external analog voltage but also can be internal parameters (P1-09 to P1-11). For
more information of speed command source, please refer to chapter 6.3.1.
The speed limit only can be used in torque mode (T mode) to limit the servo motor speed.
When the torque command is the external analog voltage, there should be surplus DI
signal that can be treated as SPD0~1 and be used to select speed limit command (internal
parameter). If there is not enough DI signal, the external voltage input can be used as
speed limit command. When the Disable / Enable Speed Limit Function Settings in
parameter P1-02 is set to 1, the speed limit function is activated.
The timing chart of speed limit is shown as the figure below:
Disable / Enable Speed Limit Function
Settings in parameter P1-02 is set to 0

6.6.2 Torque Limit

The command source of torque limit command is the same as torque command. It can be
the external analog voltage but also can be internal parameters (P1-12 to P1-14). For
more information of torque command source, please refer to chapter 6.4.1.
The torque limit only can be used in position mode (PT mode) and speed mode (S mode)
to limit the output torque of servo motor. When the position command is the external
pulse and speed command is the external analog voltage, there should be surplus DI
signal that can be treated as TCM0~1 used to select torque limit command (internal
parameter). If there is not enough DI signal, the external voltage input can be used as
torque limit command. When the Disable / Enable Torque Limit Function Settings in
parameter P1-02 is set to 1, the torque limit function is activated.
The timing chart of torque limit is shown as the figure below:
Disable / Enable Torque Limit Function
Settings in parameter P1-02 is set to 0
Revision June 2010
SPD0~1 INVALID
Command Source Selection of Speed Limit
TCM0~1 INVALID
Command Source Selection of Torque Limit
Chapter 6 Control Modes of Operation
Disable / Enable Speed Limit Function
Settings in parameter P1-02 is set to 1
SPD0~1 VALID
Disable / Enable Torque Limit Function
Settings in parameter P1-02 is set to 1
TCM0~1 VALID
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