Control Structure Of Torque Mode - Delta ASD-A2-0121 Series User Manual

ASDA-A2

6.4.2 Control Structure of Torque Mode

The basic control structure is as the following diagram:
Torque
Command
The torque command processing unit is to select torque command source according to Section
6.4.1, including the scaling (P1-41) setting and S-curve setting. The current control unit manages
the gain parameters of the servo drive and calculates the current for servo motor in time. Since the
current control unit is very complicated and is not relevant to the application, there is no need to
adjust parameters. Only command end setting is provided.
The structure of torque command processing unit is as the following diagram.
A/D
Analog Signal
The upper path is the command from register while the lower one is external analog command.
The command is selected according to the status of TCM0, TCM1 and P1-01 (T or Tz). The torque
represented by analog voltage command can be adjusted via the scaling and can obtain a
smoother response via low-pass filter.
Torque
Resonance
Command
Suppression Unit
Processing
Unit
TCM0, TCM1 signal of CN1
Register
P1-12
~P1-14
Scaling
P1-41
+
Control Unit
-
Command
Low-pass Filter
Selection
P1-01
Chapter 6 Control Mode of Operation
Output Torque
Current
Motor
Current
Sensor
P1-07
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