Torque Mode; Drive Modifiers - Emerson Epsilon Eb Series Reference Manual

Torque Mode

In Torque mode both the position and velocity loops are disabled and only the torque loop is
enabled.
Note
Velocity related faults and velocity related input and output functions are still enabled
(including Stop and Travel Limits).
In Torque mode the drive receives an Analog Input which is scaled to the Analog Torque
Command by the Full Scale Torque, Analog Input Full Scale, and Analog Input Zero Offset
parameters. The equation is:
((AI
=
TC
Where:
TC = Torque Command
AI = Analog Input (volts)
AZO = Analog Input Zero Offset (volts)
FST = Full Scale Torque (%)
AFS = Analog Full Scale (volts)

Drive Modifiers

This section describes functions that can modify the operation of the drive.
Stop
The Stop input function, when activated, will cause motion to stop regardless of motor
direction or the operating mode. The Stop Deceleration Ramp defines the rate of velocity
change to zero speed.
Activating the Stop input function causes the drive to change to Velocity mode. Therefore, if
you are operating in Torque mode, the drive must be tuned to the load to prevent instability
when activating the Stop input function.
For example, if an application is operating in Torque mode at 1000 RPM, and the Stop input
function is activated with a Stop Deceleration Ramp of 500 ms/kRPM, the motor will
decelerate to a stop in 500 ms.
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
−
AZO) FST)
AFS
Operational Overview
35