Torque Mode; Selection Of Torque Command - Delta ASD-B2-1521-F User Manual

Chapter 6 Control Modes of Operation

6.4 Torque Mode

Torque control mode (T or Tz) is appropriate in torque control application, such as printing
machine, winding machine, etc. There are two kinds of command source, analog input and
register. Analog command input uses external voltage to control the torque of the motor
while register uses the internal parameters (P1-12 ~ P1-14) as the torque command.

6.4.1 Selection of Torque Command

Torque command source are external analog voltage and parameters. It uses CN1 DI
signal for selection. See as below.
DI signal of
Torque
Command
TCM1 TCM0
T1 0
T2 0
T3 1
T4 1
 The status of TCM0 ~ TCM1: 0 means DI OFF and 1 means DI ON.
 When TCM0 = TCM1 = 0, if it is in Tz mode, then the command is 0. Thus,
if there is no need to use analog voltage as torque command, Tz mode is
applicable and can avoid the problem of zero drift. If it is in T mode, the
command will be the voltage deviation between T-REF and GND. Its input
voltage range is -10V ~ +10V, which mean the corresponding torque is
adjustable (P1-41).
 When neither TCM0 nor TCM1 is 0, parameters become the source of torque
command. The command will be executed after TCM0 ~ TCM1 are changed.
There is no need to use CTRG for triggering.
The torque command can be used in torque mode (T or Tz) and speed mode (S or Sz).
When it is in speed mode, it can be regarded as the command input of torque limit.
6-36
CN1
Command Source
T
0 Mode
Tz
1
0 Parameters
1
Voltage between
External analog
signal
T-REF-GND
None Torque command is 0
ASDA-B2
Content Range
+/-10V
P1-12 +/-300%
P1-13 +/-300%
P1-14 +/-300%
Revision May, 2018
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