224 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 10 Modes of Operation
The torque command can also come from the controller when parameter ID117
(P1.001) is set to 0xC (I/O mode). The command name is Target Torque. For
more details, see I/O Mode - Torque
on page 242.
Selection of Torque Command
External analog voltage and parameters are the two types of torque command
source. They are selected by the DI signal from the I/O connector of the drive.
The following table shows the torque command source selection when the
operating mode is T or Tz.
• State of DI.TCM0 and DI.TCM1 signals: 0 signifies that the circuit is
open (digital input [DI] is off ); 1 signifies that the circuit is closed (DI is
on).
• When DI.TCM0 signal = DI.TCM1 signal = 0 in Tz mode, then the
command is 0. Thus, if there is no need to use analog voltage as torque
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 difference between
T-REF and GND. Its input voltage range is -10V…+10V, which means the
corresponding torque is adjustable via ID148 (P1.041)
AnalogToTorqueScale.
• When either the DI.TCM0 or DI.TCM1 signal is not 0, parameters
become the source of torque command. The command will be executed
after the DI.TCM0 and DI.TCM1 signals are changed. There is no need
to use the DI.CTRG signal for triggering.
The torque command can be used in torque 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 limit.
Torque
Command
DI Signal
Command Source Content RangeTCM1 TCM0
T1 0 0 Mode Torque (T) External
analog
command
Voltage difference between
T-REF and GND
-10V…+10V
Torq ue
without
analog
command
(Tz)
— Torque command is 0 0
T2 0 1 Parameters ID128 (P1.012)
PresetTorqueCmd_Limit_1
-300%…+300%
T3 1 0 ID129 (P1.013)
PresetTorqueCmd_Limit_2
T4 1 1 ID130 (P1.014)
PresetTorqueCmd_Limit_3
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