Delta Electronics none Manual De Usuario

Chapter 6  Control Modes of Operation|ASDA-AB Series 

Revision March 2008, Doc. Name: 2007PDD23000011 

 

 

6-35 

The max. servo motor speed can be limited by using parameter P1-55 no matter in position, speed or 

torque control mode. 

The command source of speed limit command is the same as speed command. It can be the external 

analog voltage but also can be internal parameters (P1-09 to P1-11). For more information of speed 

command source, please refer to chapter 6.3.1. 

The speed limit only can be used in torque mode (T mode) to limit the servo motor speed. When the 

torque command is the external analog voltage, there should be surplus DI signal that can be treated as 

SPD0~1 and be used to select speed limit command (internal parameter). If there is not enough DI 

signal, the external voltage input can be used as speed limit command. When the Disable / Enable 

Speed Limit Function Settings in parameter P1-02 is set to 1, the speed limit function is activated.  

The timing chart of speed limit is shown as the figure below: 

Disable / Enable Speed Limit Function

Settings in parameter P1-02 is set to 1

SPD0~1 INVALID

SPD0~1 VALID

Disable / Enable Speed Limit Function

Settings in parameter P1-02 is set to 0

 

Command Source Selection of Speed Limit 

 

The command source of torque limit command is the same as torque command. It can be the external 

analog voltage but also can be internal parameters (P1-12 to P1-14). For more information of torque 

command source, please refer to chapter 6.4.1. 

The torque limit only can be used in position mode (Pt and Pr mode) and speed mode (S mode) to limit 

the output torque of servo motor. When the position command is the external pulse and speed 

command is the external analog voltage, there should be surplus DI signal that can be treated as 

TCM0~1 used to select torque limit command (internal parameter). If there is not enough DI signal, the 

external voltage input can be used as torque limit command. When the Disable / Enable Torque Limit 

Function Settings in parameter P1-02 is set to 1, the torque limit function is activated.  

The timing chart of torque limit is shown as the figure below: 

TCM0~1 INVALID

TCM0~1 VALID

Disable / Enable Torque Limit Function

Settings in parameter P1-02 is set to 1

Disable / Enable Torque Limit Function

Settings in parameter P1-02 is set to 0

 

Command Source Selection of Torque Limit