Delta AS Series Programming Manual page 1333

AS Ser ies Pro gra mm in g M anu al
5. TarTQ: specified target torque; it is suggested to check the manuals of Delta Servo Drives and AC Motor Drives
before setting up. You can modify the settings during the execution of this instruction.
Drive
Types
Servo
Drive
AC
Motor
Drive
6. LSpeed: maximum speed limit; this is used to prevent exceeding the speed limit, if the drives cannot complete the
_6
specified torque commands. You can modify the settings during the execution of this instruction.
Drive
Types
Servo
Drive
AC
Motor
Drive
7. CurTQ: current torque value; unit: 0.1%; the value here is the same as the value shown in its corresponding SR.
Refer to API 2803 DRVIC instruction for more details on the corresponding SR.
8. Reach is the result of the comparison between CurTQ and TarTQ, shown in 0.1% as its unit. When CurTQ >=
TarTQ, the Reach flag is ON. When CurTQ < (TarTQ – 5), the Reach flag is OFF. The delay response value is 5.
6 - 1 0 5 4
Node ID
Range
Setting the servo parameter P1-12 (internal torque limit 1), valid range: -300~+300,
unit: 1%; value exceeding the upper/lower limit will be treated as the upper/lower limit
value. For FW V1.08.40 or later, ASDA-A3/B3 high resolution torque mode is
supported; valid range: -3000~+3000, unit: 0.1%, value exceeding the upper/lower
limit will be treated as the upper/lower limit value.
1~8 The +/- sign indicates the forward / reverse direction. The servo runs according to
torque control mode parameter P1-01 (torque output direction); set servo DI to TCM0
= ON and TCM1 = OFF in order to select internal torque command to 1; it is suggested
to use COPRW instruction to clear the value in servo parameter P1-12 before Power-
On. Since the default value of P1-12 is NOT 0%, it will start running once it is Servo
ON.
Setting the AC motor drive parameter P11-27 (maximum torque command); index
6071-00 (targeting torque) and index 6072-00 (largest output torque); valid range: -
21~28
500~+500; unit: 1%; value exceeding the upper/lower limit will be treated as the
upper/lower limit value.
Node ID
Range
Setting the servo parameter P1-55 (maximum speed limit); valid range 10 to rated
1~8
speed of each model; unit: 1 r/min (rotary).
Setting the AC motor drive parameters
1. P01-00 = LSpeed (max. output frequency); valid range: 0~59900; unit: 0.01 Hz;
value exceeding the upper/lower limit will be treated as the upper/lower limit value
21~28 2. P11-37=100% (forward speed limit)
3. P11-38=100% (reverse speed limit)
You need to set parameter P11-36 (speed limit selection) to 0 and when parameter
P11-36 is set to 0, the speed limit is determined by the settings in P11-37 and P11-38.
TarTQ
LSpeed