Delta ASD-A2R-0121 Series, Руководство пользователя

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Chapter 6 Control Mode of Operation

ASDA-A2R Series
Revision December, 2014 6-31
6.4 Torque (force) Mode
Torque (force) control mode (T or Tz) is appropriate in torque (force) control application,
such as printing machine, winding machine, etc. There are two kinds of command source,
analog input and register. Analog command input uses external voltage to control the
torque (force) of the motor while register uses the internal parameters (P1-12~P1-14) as
the torque (force) command.
6.4.1 Selection of Torque (force) Command
Torque (force) command source are external analog voltage and parameters. It uses
CN1 DI signal for selection. See as below.
Torque
Command
No.
CN1 DI Signal
Command Source Content Range
TCM1 TCM0
T1
0 0 Mode
T
External
analog
command Voltage deviation
between T-REF
and GND
-10 V ~ +10V
Tz N/A
Torque (force)
command is 0
0
T2
0 1
Parameters
P1-12 -300% ~ 300%
T3 1 0 P1-13 -300% ~ 300%
T4 1 1 P1-14 -300% ~ 300%

The status of TCM0 ~ TCM1: 0 means DI OFF and 1 means DI ON.

When TCM0 = TCM1 = 0, if it is in Tz mode, then the command is 0. Thus, if there is
no need to use analog voltage as torque (force) command, Tz mode is applicable
and can avoid the problem of zero drift. If it is in T mode, the command will be the
voltage deviation between T-REF and GND. Its input voltage range is -10V
～
+10V,
which means the corresponding torque (force) is adjustable (P1-41).

When neither TCM0 nor TCM1 is 0, parameters become the source of torque (force)
command. The command will be executed after TCM0 ~ TCM1 are changed. There
is no need to use CTRG for triggering.
The torque (force) command can be used in torque (force) mode (T or Tz) and speed
mode (S or Sz). When it is in speed mode, it can be regarded as the command input of
torque (force) limit.