Timing Diagram Of Torque Mode - Delta ASDA-B3 Series User Manual

ASDA-B3

6.4.5 Timing diagram of Torque mode

Note:
"off" means that DI is off (the circuit is open); "on" means that DI is on (the circuit is closed).
1.
When in Tz mode, the Torque command T1 = 0; when in T mode, the Torque command T1 is the
2.
external analog voltage input.
In Servo On state, the command is selected according to the status of TCM0 and TCM1.
3.
T4
Internal
T3
register
T2
External
analog
T1
voltage
or 0
TCM0
External
TCM1
I/O
SON
off on off
off
on
Operation Mode
on
on
6
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