Others; The Use Of Speed Limit; The Use Of Torque (Force) Limit - Delta ASD-A2R-0221 Series User Manual

Chapter 6 Control Mode of Operation ASDA-A2R Series

6.6 Others

6.6.1 The Use of Speed Limit

The maximum speed in each mode is limited by internal parameters (P1-55), no matter it
is in position, speed or torque (force) mode.
The issuing method of speed limit command and speed command is the same. The
command source could be external analog voltage or internal parameter (P1-09 ~ P1-11).
Please refer to Section 6.3.1 for descriptions.
Speed limit can be used in torque (force) mode (T) only. It is used for limiting the motor
speed. When the command in torque (force) mode is issued by external analog voltage,
DI signal is enough and can be regarded as SPD0~SPD1 which is used to determine the
speed limit command (internal parameters). If the DI signal is not enough, speed limit
command can be issued by analog voltage. When the function of disable/enable limit
function in P1-02 is set to 1, the speed limit function is enabled. See the timing diagram
as below.
Disable the speed limit function of P1-02

6.6.2 The Use of Torque (force) Limit

The issuing method of torque (force) limit command and torque (force) command is the
same. The command source could be external analog voltage or internal parameter
(P1-12 ~ P1-14). Please refer to Chapter 6.4.1 for descriptions.
Torque (force) limit can be used in position mode (PT, PR) or speed mode (S). It is used
for limiting the motor torque (force) output. When the command in position mode is
issued by external analog voltage, DI signal is enough and can be regarded as
TCM0~TCM1, which is used to determine torque (force) limit command (internal
parameters). If the DI signal is not enough, torque (force) limit command can be issued
by analog voltage. When the function of disable/enable torque (force) limit function in
P1-02 is set to 1, the torque (force) limit function is enabled. See the timing diagram as
below.
Disable the torque limit function of P1-02
6-38
Command source selection of speed limit
Command source selection of torque speed limit
Enable the speed limit function of P1-02
Enable the torque limit function of P1-02
Revision December, 2014