Control Structure Of Torque Mode; Smoothing The Torque Command - Delta ASDA-B3 Series User Manual

Control Mode

6.4.2 Control structure of Torque mode

The following diagram shows the basic control structure of Torque mode.
6
Torque
command
The Torque command processing unit selects the command source (see Section 6.4.1),
including the scaling parameter (P1.041) for the torque corresponding to the analog voltage and
the low-pass filter (P1.007) 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.
The structure of Torque command processing unit is as follows.
The upper path is the command from the register and the lower one is the command from the
external analog voltage, which 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).

6.4.3 Smoothing the Torque command

Refer to Chapter 8 for detailed descriptions of the relevant parameter.
Parameter
P1.007
6-26
Torque
command Resonance
processing
suppression unit
unit
Torque command - smoothing constant (low-pass filter)
Target
torque
+
Current control
unit
-
Current sensor
Function
t
P1.007
ASDA-B3
Torque output
Motor