Delta C2000 Series User Manual page 402

Point-to-Point Position Control
Settings: 0: Relative position
 Pr. 00-12 = 0 is incremental type P2P; Pr. 00-12 = 1 is absolute type P2P
Control of Torque Mode
Settings
 Pr. 00-13=0, IM TQCPG control diagram is as follows:
Pr.11-28
Torque Bias
0
0
Pr.11-33
Analog Input
Torque Source
1
Pr.11-34 Pr.11-29
2
0
RS485
Pr.11-30~Pr.11-32
1 3
Analog Input
2
CANopen
*
T
q +
3
Reserve
4
COMM Card
5
Feed Forward
Control
Pr.11-36
Speed limit
Pr.11-12
Pr.11-37&Pr.11-38
Pr.11-37 0
+
Pr.11-38
ASR
1
Pr.00-20
Fcmd -
Pr.11-00 bit0=0
2
Pr.00-20
set Pr.11-06~11-11
Pr.11-00 bit0=1
set Pr.11-03~11-05
 Pr. 00-13=1, PM TQCPG control diagram is as follows:
1: Absolute position
0: IM TQCPG (IM Torque control + Encoder)
1: PM TQCPG (PM Torque control + Encoder)
2: IM TQC Sensorless (IM Sensorless torque control)
Pr.11-27
Maximum
Torque
T
offset
Pr.11-35
+
LPF
X
Torque Limit
Pr.06-12
TQ/SPD
Pr.11-17~11-20
Torque
+
+
LPF
Torque Limit
Pr.11-14
Pr.06-12
Pr.11-17~11-20
Chapter 12 Description of Parameter SettingsC2000
Pr.11-21
Pr.11-22
Pr.10-35
Pr.10-36
Active
*
I
d
Magnetic
d-axis ACR
Regulator
Select
q-axis
*
I
q
Current
q-axis ACR
Calculator
Speed
Slip Calculator
ω +
sl
θ
e
ʃ
+
ω
r
12.1-00-11
Default: 0
Default: 0
DC Bus DC Bus
DC Bus Voltage
Voltage Voltage
Detection Protection
U U U
a b c
dq
IGBT
AVR
PWM
abc
Pr.07-23
I
a
abc
I
b
dq I
c
Speed
Feedback
IM
Pr.01-01~01-02
Pr.05-01~05-09
Encoder
Pr.10-00~10-02