Delta ASDA-B2 Series User Manual

Chapter 6 Control Modes of Operation ASDA-B2
6-40 Revision May, 2018
6.4.5 Timing Diagram of Torque Mode
T4 (P1-14)
T3 (P1-13)
T2 (P1-12)
T1
TCM0
TCM1
SON
OFF
ON
OFF
ON
ON
OFF
ON
Internal speed
command
External analog
voltage or zero (0)
External I/O signal
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 the servo drive is Servo On, please select the command
according to TCM0 ~ TCM1 status.

Delta ASDA-B2 Series Specifications

General

Control Mode	Position, Speed, Torque
Storage Temperature	-20°C to 65°C
Position Control	Yes
Speed Control	Yes
Torque Control	Yes
Output Power	0.1 kW to 3.0 kW
Communication Interface	RS-485, CANopen
Encoder Feedback	Incremental
Protection	Overvoltage, Overcurrent, Overload, Overheat
Operating Temperature	0°C to 55°C
Humidity	20% to 90% RH (non-condensing)
Vibration Resistance	5.9 m/s² (0.6G) at 10-55Hz