Delta MH300 Series - Page 980

Chapter 16 PLC Function ApplicationsMH300
16-117
Torque control:
Register table for torque mode:
Control special M
Special M
Function Description
Attributes
M1040
Hardware power (Servo On)
RW
Status special M
Special M
Function Description
Attributes
M1056
Hardware already has power (Servo On ready)
RO
M1063
Torque reached
RO
Control special D
Special D
Function Description
Attributes
D1060
Operation mode setting (torque mode is 2)
RW
Status special D
Special D
Function Description
Attributes
D1050
Actual operation mode (torque mode is 2)
RO
D1053
Actual torque
RO
Torque mode control commands:
TORQ(P) S1 S2
Target torque (with numbers) Frequency restrictions
Example of torque mode control:
You must complete the setting of the electro-mechanical parameters involved in torque control
before using torque control.
1. Set D1060 = 2 to change to torque mode.
2. Use the TORQ command to implement torque control and the speed limits.
3. Set M1040 = 1; the drive is now excited, and immediately jumps to the target torque or speed
limit. Use D1053 to find the current torque.
M1000
M1002
MOV K2
D1060
Set control mode (0:V)
END
ON only for 1scan a
X1
6
0
13
X1
Ready
M0
X4
19
25
28
9999
TMR T0
K30
Power on delay
T0
Normally open contact
Power on delay
TORQ K100
K1000
TORQ K-200
K1000
Power on
Set Torque
Set Torque
Ready