Delta ASD-B2-0121-B, User Manual

Page: 143 / 313

Chapter 6 Control Modes of Operation
6-34
Revision June 2010
Relevant parameters:
P1 - 41
▲
TCM Max. Analog Torque Command / Limit
Communication Addr.:
0152H, 0153H
Default: 100 Related Section:
Applicable Control Mode: ALL Section 6.4.4
Unit: %
Range: 0 ~ 1000
Data Size: 16-bit
Display Format: DEC
Settings:
In Torque mode , this parameter is used to set the output torque at maximum
input voltage (10V) of analog torque command.
In Position and Speed mode , this parameter is used to set output torque at
maximum input voltage (10V) of analog torque limit
For example, in torque mode, if P1-41 is set to 100 and the input voltage is 10V, it
indicates that the torque command is 100% rated torque. If P1-41 is set to 100, but
the input voltage is changed to 5V, then the torque command is changed to 50%
rated torque.
Torque command / limit = Input voltage x setting/10 (%)
6.4.5 Timing Chart of Torque Control Mode
T4 (P1-14)
T3 (P1-13)
T2 (P1-12)
T1
TCM0
TCM1
SON
OFF
ON
OFF
ON
ON OFF
ON
Internal speed
command
External analog
voltage or zero (0)
External I/O signal
NOTE
1) OFF indicates normally open and ON indicates normally closed.
2) When torque control mode is Tz, the torque command T1=0; when torque control mode is
T, the speed command T1 is external analog voltage input (Please refer to P1-01).
3) After Servo ON, the users can select command according to the state of TCM0~1.