Delta ASD-A3-0121, User Manual

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ASDA-A3 Operation Mode
Revision December, 2017
6-25
6
6.4 Torque mode
Torque Control mode (T or Tz) is suitable for torque control applications, such as printing
machines and winding machines. There are two kinds of command sources: analog input and
internal register (parameters). The analog command input uses scaled external voltage to
control the torque of the motor while the register uses the internal parameters (P1.012 – P1.014)
for the Torque command.
6.4.1 Selecting the Torque command source
External analog voltage and internal parameters are the two Torque command sources. You
select the command source with CN1’s DI signal. See the table below for more detail.
Torque
command
DI signal of CN1
Command source Content Range
TCM1 TCM0
T1 0 0 Mode
T External analog
command
Voltage difference
between T-REF and
GND
-10V to +10V
Tz N/A Torque command is 0 0
T2 0 1
Parameters
P1.012 -300% – 300%
T3 1 0 P1.013 -300% – 300%
T4 1 1 P1.014 -300% – 300%

State of TCM0 – TCM1: 0 means that the circuit is open (DI is off); 1 means that the circuit
is closed (DI is on).

When TCM0 = TCM1 = 0, if in Tz mode, then the command is 0. If there is no need to use
the analog voltage for the Torque command, then Tz mode is applicable and can avoid the
problem of zero voltage drift. If in T mode, then the command is the voltage difference
between T-REF and GND. Its input voltage range is -10V to +10V, which means you can
adjust the corresponding torque (P1.041).

When either one of TCM0 or TCM1 is not 0, the internal parameters become the source for
the Torque command. The command is executed after TCM0 – TCM1 are changed. There
is no need to use CTRG for triggering.
You can use the Torque command in Torque mode (T or Tz) and Speed mode (S or Sz). When
in Speed mode, you can think of it as the command input for the torque limit.