Control Structure Of Torque Mode - Delta ASDA-B3 Series User Manual

ASDA-B3

6.4.2 Control structure of Torque mode

The following diagram shows the basic control structure of Torque mode.
Torque
command
The Torque command processing unit selects the command source (see Section 6.4.1),
including the scaling parameter (P1.041) for rotation speed and S-curve parameter for
smoothing the torque. The current control unit manages the gain parameters for the servo drive
and calculates the current for servo motor in real-time; you can only set this by commands.
The structure of torque command processing unit is as follows.
A/D
Analog signal
The upper path is the command from the register and the lower one is the command from the
external analog voltage that 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).
Torque
command Resonance
processing
suppression unit
unit
TCM0 and TCM1 signals of CN1
Register
P1.012 - P1.014
Scaling
P1.041
+
Current control
unit
-
Current sensor
Command
Low-pass filter
selection
P1.007
P1.001
Operation Mode
Output torque
Motor
6-27
6