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Chapter 6  Control Modes of Operation|ASDA-AB Series

 

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Revision March 2008, Doc. Name: 2007PDD23000011

The torque control mode (T or Tz) is usually used on the applications of torque control, such as printing 

machine, spinning machine, twister, etc. Delta ASDA-AB series servo drive supports two kinds of command 

sources in torque control mode. One is external analog signal and the other is internal parameter. The 

external analog signal is from external voltage input and it can control the torque of servo motor. The internal 

parameters are from P1-12 to P1-14 which are used to be the torque command in torque control mode. 

Torque command Sources:  

1)  External analog signal: External analog voltage input, -10V to +10V 

2)  Internal parameter: P1-12 to P1-14 

The command source selection is determined by the DI signal of CN1 connector. 

DI signal of CN1 

Torque 

Command  TCM1  TCM0 

Command Source 

Content 

Range 

T External analog signal

Voltage between  
T-REF-GND 

+/- 10 V 

T1 0 

0 

Mode 

Tz

None 

Torque command is 0 

0 

T2 

0 

1 

P1-12 

+/- 300 %

T3 

1 

0 

P1-13 

+/- 300 %

T4 1 

1 

Internal parameter 

P1-14 

+/- 300 %

„ 

State of TCM0~1: 0: indicates OFF (Normally Open); 1: indicates ON (Normally Closed) 

„ 

When TCM0 and TCM1 are both 0 (OFF), if the control mode of operation is Tz, then the 

command is 0. Therefore, if the users do not use analog voltage as torque command, the users 

can choose Tz mode to operation torque control to avoid the zero point drift problem

 

of analog 

voltage. If the control mode of operation is T, then the command is the analog voltage between 

T-REF and GND. The setting range of the input voltage is from -10V to +10V and the 

corresponding torque is adjustable (see parameter P1-41). 

„ 

When at least one of TCM0 and TCM1 is not 0 (OFF), the torque command is internal 

parameter. The command is valid (enabled) after either TCM0 or TCM1 is changed. 

The torque command that is described in this section not only can be taken as torque command in 

torque control mode (T or Tz mode) but also can be the torque limit input command in position mode (P 

mode) and speed control mode (S or Sz mode).