Delta Electronics ASDA-AB Benutzerhandbuch

Chapter 6  Control Modes of Operation|ASDA-AB Series 

Revision January 2009 

 

 

6-29 

Basic Structure: 

 

The toque command processing is used to select the command source of torque control according to 

chapter 6.4.1, including max. analog torque command (parameter P1-41) and smoothing strategy of 

torque control mode. The current control block diagram is used to manage the gain parameters of the 

servo drive and calculate the current input provided to motor instantaneously. As the current control 

block diagram is too complicated, setting the parameters of current control block diagram is not allowed. 

The function and structure of torque command processing is shown as the figure below: 

A/D

P1-12
~1-14

P1-41

P1-01

P1-07

TCM0,TCM1 signal of CN1

Command

selection

Low-pass

filter

(Command source:

Internal parameter)

(Command source:

External analog signal)

Analog signal

Internal

parameter

Proportion

Gain

 

The command source is selected according to the state of TCM0, TCM1 and parameter P1-01 (T or Tz). 

Whenever the command signal needs to be more smoothly, we recommend the users to use 

proportional gain (scalar) and low-pass filter to adjust torque. 

 

Relevant parameters: 

Default: 0 

Related Section: 

Applicable Control Mode: T 

Section 6.4.3 

Unit: ms 

 

Range: 0 ~ 1000 (0: Disabled)