Delta ASD-A2R-0421 Series - Page 241

Chapter 8 ParametersASDA-A2R Series
Revision December, 2014
8-9
Torque (force) Control Parameter
Parameter Abbr. Function Default Unit
Control Mode
Related
Section
PT PR S T
P1-01● CTL
Input Setting of Control Mode
and Control Command
0
pulse
r/min
N-M
O O O O 6.1
P1-02▲ PSTL
Speed and Torque (foce) Limit
Setting
0 N/A O O O O 6.6
P1-46▲ GR3
Output Pulse Counts Per One
Motor Revolution
1 pulse O O O O -
P1-55 MSPD Maximum Speed Limit rated
r/min
(rotary
motor)
3
10

m/s
(linear
motor)
O O O O -
P1-09
~
P1-11
SP1~3 Internal Speed Limit 1~3
100
~
300
0.1r/m
in
(rotary
motor)
6
10

m/s
(linear
motor)
O O 6.6.1
P1-12
~
P1-14
TQ1~3
Internal Torque (force)
Command 1~3
100 % O O O O 6.4.1
P1-40▲ VCM
Maximum Speed of Analog
Speed Command
rated
r/min
(rotary
motor)
3
10

m/s
(linear
motor)
O O -
P1-41▲ TCM
Maximum Output of Analog
Torque (force) Limit
100 % O O O O 6.4.4
Planning of Digital Input / Output Pin and Output Setting Parameter
Parameter Abbr. Function Default Unit
Control Mode
Related
Section
PT PR S T
P2-09 DRT DI Debouncing Time 2 2ms O O O O -
P2-10 DI1 DI1 Functional Planning 101 N/A O O O O
Table
8.1
P2-11 DI2 DI2 Functional Planning 104 N/A O O O O
Table
8.1