Delta ASDA-B3 Series, Руководство пользователя

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Motion Control ASDA-B3
7-20
7
The following tables list the parameters for the torque limit (P1.087) and the torque limit time
(P1.088).
P1.087 Torque homing - torque level detection
Address: 01AEH
01AFH
Default:
1
Control mode: PR
Unit: % Setting range: 1 - 300
Format: DEC Data size: 16-bit
Settings:
This setting is only for the torque homing mode. As shown in the following figure, after homing is
triggered, the motor runs in one direction and reaches the protector. The servo drive then outputs a
larger motor current in order to counter the external force. The servo drive uses P1.087 and P1.088 as
the conditions for homing. Since the hard stops are not always the same, it is recommended to return to
find the Z pulse as the origin.
Protector
Torque curve when
the servo searches
for the hard stop
Torque level
detection P1.087
Level reached timer P1.088
Z pulse
Start point
Torque curve the
servo searches for
Z pulse
10%
Maximum torque output
Note: the actual maximum torque output of the motor is 10% greater than the detected torque level (P1.087).
For example: set P1.087 to 50%, then the maximum torque output of the motor is 60%.
P1.088 Torque homing - level reached timer
Address: 01B0H
01B1H
Default:
2000
Control mode: PR
Unit: ms Setting range: 2 - 2000
Format: DEC Data size: 16-bit
Settings:
The setting of the level reached timer for the torque homing mode. Refer to P1.087 for the timing
diagram of torque homing mode.