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ASDA-A3

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Control Mode

6.4.2 Control structure of Torque mode

The following diagram shows the basic control structure of Torque mode.

Torque

command

Torque

command

processing unit

Resonance

+

suppression unit

-

Torque output

Current control

unit

Motor

6

Current sensor

The Torque command processing unit selects the command source (see Section 6.4.1),

including the scaling parameter (P1.041) for rotation torque and S-curve parameter for

smoothing the torque. The current control unit controls the gain parameters of the servo drive

and calculates the current for servo motor in real-time.

The structure of Torque command processing unit is as follows:

Register

P1.012 - P1.014

A/D

Scaling

P1.041

TCM0 and TCM1 signals of CN1

Command

selection

P1.001

Low-pass filter

P1.007

Analog

signal

The upper path is the command from the register and the lower one is the command from the

external analog voltage, which you can select with the status of TCM0 and TCM1, and P1.001

(T or Tz). Adjust the torque with the analog voltage scaling (P1.041) and smooth the response

with the low-pass filter (P1.007).

6.4.3 Smooth Torque command

Refer to Chapter 8 for detailed descriptions of the relevant parameter.

Parameter

P1.007

Function

Torque command - smoothing constant (low-pass filter)

Target

torque

t

P1.007

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