Delta C2000 series User Manual page 512

Torque Control:
The corresponding registers for Torque Mode are listed in the chart below:
Special M Control Setting
Special M
M1040 Power ON
Special M Status
Special M
M1056 Power ON ready
M1063 Target torque attained
Special D Conrol Setting
Special D
D1060 Mode setting (Torque mode=2)
Special D Status
Special D
D1050 Actual mode (0:Speed, 1: Position, 2: Torque, 3: Homing)
D1053 Actual torque
Control command for Torque Mode:
TORQ(P)
Target torque (signed decimal)
Example of Torque Control Mode:
Before setting PLC program to torque control mode, maker sure the torque parameter settings of
the AC motor drive are completed.
1. When setting D1060 = 2, AC motor drive is in torque mode.
2. Write TORQ command to PLC program for torque and speed limit control.
3. When setting M1040 = 1, AC motor drive power turns ON and operate till target torque or
speed limit is attained. Actual torque value can be read in D1053.
Description
Description
Description
Description
S1
Frequency limit
16-89
Chapter 16 PLC Function |C2000 Series
S2
R/W
RW
R/W
RO
RO
R/W
RW
R/W
RO
RO