Delta ASD-A3-0121, User Manual

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Operation Mode ASDA-A3
6-34
Revision December, 2017
6
6.6.2 Applying the torque limit
The method for using the Torque Limit command and Torque command are the same. You can
use either the external analog voltage or the internal parameters (P1.012 – P1.014). Please refer
to Section 6.4.1 for descriptions.
You can use the torque limit in Position mode (PT, PR) or Speed mode (S) to limit the motor
torque output. When you execute the command in Position mode using the external pulse or
execute the command in Speed mode using the external analog voltage, DI signals are available
and you can set TCM0 – TCM1 to determine the Torque Limit command (internal parameters). If
there is not enough DI signal available, you can execute the Torque Limit command using the
analog voltage. When you set the Torque Limit function (P1.002) to 1, you enable the Torque
Limit function. See the timing diagram below.
TCM0 ~ 1 valid TCM0 ~ 1 inavalid
Torque limit function disabled
(P1.002)
Torque limit function enabled
(P1.002)
Command source selection of torque / speed limit
6.6.3 Analog monitoring
You can find the required voltage signal with analog monitoring. Two analog channels are
provided by the servo drive and located on terminals 15 and 16 of CN1. Please refer to Chapter
8 for more information about the relevant parameters.
Parameter Function
P0.003 Analog output monitoring
P1.003 Encoder pulse output polarity
P1.004 MON1 analog monitor output proportion
P1.005 MON2 analog monitor output proportion
P4.020 Offset adjustment for analog monitor output (Ch1)
P4.021 Offset adjustment for analog monitor output (Ch2)
Example:
Specify a motor speed of 1000 rpm, which corresponds to analog voltage output of 8V with the
maximum speed of 5000 rpm. The setting is as follows:
P1.004 =
Required speed
Max . speed
×
100% =
1000 RPM
5000 RPM
×
100% = 20%