Delta C2000 Series User Manual page 628

Torque control:
Register table for torque mode:
Control special M
Special
M
M1040 Servo On
Status special M
Special
M
M1056 Servo On Ready
M1063 Torque attained
Control special D
Special
D
D1060 Operating mode setting (torque mode is 2)
Status special D
Special
D
D1050 Actual operating mode (speed mode is 0)
D1053 Actual torque
Torque mode control commands:
TORQ(P)
Target torque (with numbers)
Example of torque mode control:
The setting of electromechanical parameters involved in torque control must be completed before
implementing torque control.
1. Set D1060 = 2 to change the converted to the torque mode.
2. Use the TORQ command to implement torque control and speed limits.
3. Set M1040 = 1; the driver will now be excited, and immediately jump to the target torque or
speed limit. D1053 can be used to find out the current torque.
Description of Function
Description of Function
Description of Function
Description of Function
S1
16-136
S2
Frequency restrictions
Attributes
RW
Attributes
RO
RO
Attributes
RW
Attributes
RO
RO