Delta ASD-B2-0121-B, User Manual

Page: 160 / 313

Chapter 7 Servo Parameters
Revision June 2010
7-7
Torque Control
Control Mode
Parameter Name Function Default Unit
PT S T
Related
Section
P1-01
z
CTL
Control Mode and Output
Direction
0
pulse
r/min
N-M
O O O 6.1
P1-02 ▲ PSTL Speed and Torque Limit 0 N/A O O O 6.6
P1-46 ▲ GR3 Encoder Output Pulse Number 1 pulse O O O -
P1-55 MSPD Maximum Speed Limit rated r/min O O O -
P1-09
~
P1-11
SP1~3 1st ~ 3rd Speed Limit
1000
~
3000
r/min O O 6.6.1
P1-12
~
P1-14
TQ1~3 1st ~ 3rd Torque Command 100 % O O O 6.4.1
P1-40
▲
VCM
Max. Analog Speed Command or
Limit
rated r/min O O -
P1-41
▲
TCM
Max. Analog Torque Command
or Limit
100 % O O O 6.4.4
Explanation of symbols (marked after parameter)
(
★
) Read-only register.
(
▲
) Parameter cannot be set when Servo On (when the servo drive is enabled).
(
z
) Parameter is effective only after the servo drive is restarted (after switching power off and
on).
(
„
) Parameter setting values are not retained when power is off.