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ASDA-A3

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Motion Control

The settings and descriptions for the torque level detection (P1.087) and level reached timer

(P1.088) are as follows.

P1.087

Torque homing - torque level detection

Default: 1

Unit: %

Format: DEC

Control mode: PR

Setting range: 1 - 300

Data size: 16-bit

Address: 01AEH

01AFH

Settings:

This setting is only for the torque homing mode. As shown in the following figure, after homing is

triggered, the motor runs in one direction and the mechanical part reaches the protector. The servo

drive then outputs a larger motor current in order to counter the external force. The servo drive uses

P1.087 and P1.088 as the conditions for homing. Since the hard stops are not always the same, it is

recommended that you have the servo return to return to find the Z pulse as the origin.

7

Protector

Torque level 10%

detection P1.087

Torque curve when

the servo searches

for the hard stop

Torque curve when

the servo searches

for Z pulse

Z pulse

Level reached timer P1.088

Maximum torque output

Starting point

Note: the actual maximum torque output of the motor is 10% greater than the detected torque level (P1.087). For

example: set P1.087 to 50%, then the maximum torque output of the motor is 60%.

P1.088

Torque homing - level reached timer

Default: 2000

Control mode: PR

Address: 01B0H

01B1H

Unit: ms

Setting range: 2 to 2000

Format: DEC

Data size: 16-bit

Settings:

The setting of the torque level reached timer for the torque homing mode. If the motor torque output

continues to exceed the level set by P1.087 and the duration exceeds this setting, the homing is

complete. Refer to P1.087 for the timing diagram of torque homing mode.

Send Quote Requests to info@automatedpt.com

Call +1(800)985-6929 To Order or Order Online At Deltaacdrives.com

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