Chapter 6 Control Mode of Operation ASDA-A2R Series6-38 Revision December, 20146.6 Others6.6.1 The Use of Speed LimitThe maximum speed in each mode is limited by internal parameters (P1-55), no matter itis in position, speed or torque (force) mode.The issuing method of speed limit command and speed command is the same. Thecommand source could be external analog voltage or internal parameter (P1-09 ~ P1-11).Please refer to Section 6.3.1 for descriptions.Speed limit can be used in torque (force) mode (T) only. It is used for limiting the motorspeed. When the command in torque (force) mode is issued by external analog voltage,DI signal is enough and can be regarded as SPD0~SPD1 which is used to determine thespeed limit command (internal parameters). If the DI signal is not enough, speed limitcommand can be issued by analog voltage. When the function of disable/enable limitfunction in P1-02 is set to 1, the speed limit function is enabled. See the timing diagramas below.6.6.2 The Use of Torque (force) LimitThe issuing method of torque (force) limit command and torque (force) command is thesame. The command source could be external analog voltage or internal parameter(P1-12 ~ P1-14). Please refer to Chapter 6.4.1 for descriptions.Torque (force) limit can be used in position mode (PT, PR) or speed mode (S). It is usedfor limiting the motor torque (force) output. When the command in position mode isissued by external analog voltage, DI signal is enough and can be regarded asTCM0~TCM1, which is used to determine torque (force) limit command (internalparameters). If the DI signal is not enough, torque (force) limit command can be issuedby analog voltage. When the function of disable/enable torque (force) limit function inP1-02 is set to 1, the torque (force) limit function is enabled. See the timing diagram asbelow.Enable the speed limit function of P1-02Disable the speed limit function of P1-02Command source selection of speed limitEnable the torque limit function of P1-02Disable the torque limit function of P1-02Command source selection of torque speed limit
