Structure Of Torque Control Mode - Delta Electronics ASDA-B2 series User Manual

Chapter 6 Control Modes of Operation

6.4.2 Structure of Torque Control Mode

Basic Structure:
The toque command processing is used to select the command source of torque
control according to chapter 6.4.1, including max. analog torque command (parameter
P1-41) and smoothing strategy of torque control mode. The current control block
diagram is used to manage the gain parameters of the servo drive and calculate the
current input provided to motor instantaneously. As the current control block diagram is
too complicated, setting the parameters of current control block diagram is not allowed.
The function and structure of torque command processing is shown as the figure
below:
The command source is selected according to the state of TCM0, TCM1 and
parameter P1-01 (T or Tz). Whenever the command signal needs to be more smoothly,
we recommend the users to use proportional gain (scalar) and low-pass filter to adjust
torque.
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Manuel Baliña 456, Lomas de Zamora (B1832CCJ) Buenos Aires, Argentina.
VARITEL INGENIERIA ELECTRONICA S.A.
ASDA-B2
Revision September 2013