Delta ASD-A2-7543 Series - Timing Diagram in Torque Mode

Chapter 6 Control Mode of Operation ASDA-A2
6-48 Revision February, 2017
Related parameters:
P1-41▲
TCM Maximum Output of Analog Torque Command
Address: 0152H
0153H
Operational
Interface：
Panel / Software Communication
Related Section:
6.4.4
Default：
100
Control
Mode：
ALL
Unit：
%
Range：
0 ~ 1000
Data Size：
16-bit
Format：
Decimal
Settings：
Maximum Output of Analog Torque Command:
In torque mode, the analog torque command inputs the torque setting
of the max. voltage (10V). When the default setting is 100, if the
external voltage inputs 10V, it means the torque control command is
100% rated torque. If the external voltage inputs 5V, then the torque
control command is 50% rated torque.
Torque control command = input voltage value x setting value／10 (%)
In speed, PT and PR mode, the analog torque limit inputs the torque
limit setting of the max. voltage (10V).
Torque limit command = input voltage value x setting value／10 (%)
6.4.5 Timing Diagram in Torque Mode
NOTE
1. OFF means the contact point is open while ON means the contact point is close.
2. When it is in Tz mode, the torque command T1 = 0; When it is in T mode, the
torque command T1 is the external analog voltage input.
3. When it is Servo On, please select the command according to TCM0~TCM1 status.