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

Chapter 6 Control Mode of Operation ASDA-A2

6.4.2 Control Structure of Torque Mode

The basic control structure is as the following diagram:
The torque command 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 unit is as the following diagram.
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.
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Revision February, 2017