User manual

ASDA-A User Manual Chapter 6 Control Modes of Operation
© DELTA ELECTRONICS, INC. ALL RIGHTS RESERVED 4th Edition 2005/11/30, HE03
6-29
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 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 parameter is from P1-12
to P1-14 used to be the torque command in torque control mode.
6-4-1 Command Source of Torque Control Mode
Torque command Source:
1. External analog signal: External analog voltage input, -10V to +10V
2. Internal parameter: P1-09 to P1-11
The command source selection is determined by the DI signal of CN1 connector. Please refer to the table
below:
DI signal of CN1Torque
Command
TCM1 TCM0
Command Source Content Range
T
External analog
signal
Voltage between
T-REF-GND
+/-10 V
T1 0 0 Mode
Tz None Torque command is 0 0
T2 0 1 P1-12 0 ~ 300 %
T3 1 0 P1-13 0 ~ 300 %
T4 1 1
Internal parameter
P1-14 0 ~ 300 %
 State of TCM0~1:
0: indicates OFF (normally open is contact “a”)
1: indicates ON (normally closed is contact “b”)
 When TCM0=TCM1=0 (OFF), if the control mode of operation is Tz, then the command is 0. Therefore,
if users do not use analog voltage as torque command, 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 one of TCM0 and TCM1 is not 0 (OFF), the torque command is internal parameter. The
command is valid (enabled) after TCM0~1 is changed and it doesn’t need that CTRG should be
triggered.
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 speed control mode (S or Sz
mode).