Structure Of Torque Control Mode - Delta ASDA-A2 Series User Manual

Chapter 6 Control Modes of Operation|ASDA-A2 Series

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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Revision April, 2010