Delta AS Series Programming Manual page 1332

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Make sure that all Delta drives have been initialized before executing this instruction.

For execution of this instruction, you need to use PLC FW V1.06.20 or later and ISPSoft V3.07 or later.

For Delta Servo Drives: set the parameter P1-01 to 3 (T: Torque Control mode) and turn the power off and on

again for the setting to be effective.

For Delta Vector Control Drives: use ASDON instruction to set Torque Control mode and set the parameter P11-33

(Torque command source) to 3 (CANopen) on Delta AC Motor Drives that supports torque control mode.

Node: the Node ID of Delta Servo Drives and Delta AC Motor Drives, ranging from 1 to 8 (Delta Servo Drives) and

21 to 28 (Delta AC Motor Drives). If the setting is out of the range, Err flag will be ON.

Node, TarTQ, ..., Err

Pulse Instruction

LSpeed ： Maximum speed limit

CurTQ ： Current torque value

Reach ： Target torque is reached

Ch ap te r 6 App l ied Ins tr uc ti ons

16-bit instruction

： Node ID of Delta drives

： Specified target torque

： Communication error flag

Torque control

32-bit instruction

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