Chapter 6 Control Modes of Operation6-48 Revision September 20126.4 Torque Control ModeThe torque control mode (T or Tz) is usually used on the applications of torque control, suchas printing machine, spinning machine, twister, etc. Delta ASDA-A2 series servo drivessupport two kinds of command sources in torque control mode. One is external analog signaland the other is internal parameter. The external analog signal is from external voltage inputand it can control the torque of servo motor. The internal parameters are from P1-12 to P1-14which are used to be the torque command in torque control mode.6.4.1 Command Source of Torque Control ModeTorque command Sources:1) External analog signal: External analog voltage input, -10V to +10V2) Internal parameter: P1-12 to P1-14The command source selection is determined by the DI signal of CN1 connector.TorqueCommandDI signal ofCN1 Command Source Content RangeTCM1 TCM0T1 0 0 ModeT External analogsignalVoltage betweenT-REF-GND -10V ~ +10VTz None Torquecommand is 0 0T2 0 1Internal parameterP1-12-300% ~300%T3 1 0 P1-13T4 1 1 P1-14 State of TCM0~1: 0: indicates OFF (Normally Open); 1: indicates ON (NormallyClosed) 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 torquecommand, the users can choose Tz mode to operation torque control to avoid thezero 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 settingrange of the input voltage is from -10V to +10V and the corresponding torque isadjustable (see parameter P1-41). When at least one of TCM0 and TCM1 is not 0 (OFF), the torque command isinternal parameter. The command is valid (enabled) after either TCM0 or TCM1 ischanged.The torque command that is described in this section not only can be taken as torquecommand in torque control mode (T or Tz mode) but also can be the torque limit inputcommand in position mode (P mode) and speed control mode (S or Sz mode).
