Torque Control Mode; Command Source Of Torque Control Mode - Delta Electronics ASDA-B2 series User Manual

ASDA-B2

6.4 Torque Control Mode

The torque control mode (T or Tz) is usually used on the applications of torque control,
such as printing machine, spinning machine, twister, etc. Delta ASDA-B2 series servo
drive supports two kinds of command sources in torque control mode. One is external
analog signal and the other is internal parameter. The external analog signal is from
external voltage input and it can control the torque of servo motor. The internal parameters
are from P1-12 to P1-14 which are used to be the torque command in torque control mode.

6.4.1 Command Source of Torque Control Mode

Torque command Sources:
1) External analog signal: External analog voltage input, -10V to +10V
2) Internal parameter: P1-12 to P1-14
The command source selection is determined by the DI signal of CN1 connector.
DI signal of
Torque
CN1
Command
TCM1 TCM0
T1 0
T2 0
T3 1
T4 1

State of TCM0~1: 0: indicates OFF (Normally Open); 1: indicates ON (Normally
Closed)

When TCM0 and TCM1 are both 0 (OFF), if the control mode of operation is Tz,
then the command is 0. Therefore, if the users do not use analog voltage as
torque command, the users can choose Tz mode to operation torque control to
avoid the zero point drift problem of analog voltage. If the control mode of
operation is T, then the command is the analog voltage between T-REF and
GND. The setting range of the input voltage is from -10V to +10V and the
corresponding torque is adjustable (see parameter P1-41).

When at least one of TCM0 and TCM1 is not 0 (OFF), the torque command is
internal parameter. The command is valid (enabled) after either TCM0 or TCM1
is changed.
The torque command that is described in this section not only can be taken as torque
command in torque control mode (T or Tz mode) but also can be the torque limit input
command in position mode (P mode) and speed control mode (S or Sz mode).
Revision September 2013
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Manuel Baliña 456, Lomas de Zamora (B1832CCJ) Buenos Aires, Argentina.
VARITEL INGENIERIA ELECTRONICA S.A.
Command Source
External analog
T
signal
0 Mode
Tz
1
0 Internal parameter
1
Chapter 6 Control Modes of Operation
Content
Voltage between
T-REF-GND
None Torque command is 0
P1-12
P1-13
P1-14
Range
+/- 10 V
0
+/- 300 %
+/- 300 %
+/- 300 %
6-35