Delta ASD-B2-0121-B, User Manual

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Chapter 6 Control Modes of Operation
Revision June 2010
6-31
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 ASDA-B2 series 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 parameters are from P1-12 to
P1-14 which are used to be the torque command in torque control mode.
6.4.1 Command Source of Torque Control Mode
Torque command Sources:
1) External analog signal: External analog voltage input, -10V to +10V
2) Internal parameter: P1-12 to P1-14
The command source selection is determined by the DI signal of CN1 connector.
DI signal of
CN1
Torque
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 +/- 300 %
T3 1 0 P1-13 +/- 300 %
T4 1 1
Internal parameter
P1-14 +/- 300 %
„
State of TCM0~1: 0: indicates OFF (Normally Open); 1: indicates ON (Normally
Closed)
„
When TCM0 and TCM1 are both 0 (OFF), if the control mode of operation is Tz,
then the command is 0. Therefore, if the users do not use analog voltage as torque
command, the 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 at least one of TCM0 and TCM1 is not 0 (OFF), the torque command is
internal parameter. The command is valid (enabled) after either TCM0 or TCM1 is
changed.
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 position mode (P mode) and speed control mode (S or Sz mode).