Torque Mode View; Torque Mode Settings Group; Velocity Limiting Settings - Control Techniques Epsilon EP-P Reference Manual

PowerTools is unable to plot the graph due to these values a smilely face will appear in the graph area of the view. To correct this error just
change parameter values until the smilely face is cleared and the plot appears.
3.39

Torque Mode View

Torque Mode is a mode where the drive is controlled by torque command rather than a position command. The drive can switch between
position and torque mode. Note that when in torque mode, there is no following error.
Torque Mode can be velocity limited. If there is not enough back force to keep the motor velocity below the velocity limit, the torque mode will
switch into and out of a velocity limiting mode as needed.
The Velocity Limiting has values and enables for acceleration and deceleration. This allows for position control integration with compound and
blended Indexes. We recommend using the graphical monitor to debug your motion integration.
Figure 115:

3.39.1 Torque Mode Settings Group

Torque Command
This parameter (TorqueMode.TorqueCommand) value is the torque level that will be applied when Torque mode is activated.
Peak Torque
This is a read only parameter displays the peak torque available from the selected drive and motor combination.

3.39.2 Velocity Limiting Settings

Velocity Limit Enable Check Box
This check box (TorqueMode.VelocityLimitEnable) when selected will enable the velocity limiting feature in Torque mode.
Max Velocity
This parameter (TorqueMode.VelocityLimit) value is the maximum limit of the velocity when velocity limit enable is enabled.
Hysteresis
When velocity is limited, this parameter (TorqueMode.TorqueModeHysteresis) is the value that the velocity must drop to before the drive
returns to toque mode.
Acceleration Check Box
Select this check box (TorrqueMode.AccelEnable) when an acceleration ramp is desired.
Acceleration
This parameter (TorqueMode.Accel) is the acceleration ramp for the velocity limit feature, when enabled.
Deceleration Check Box
Select this check box (TorrqueMode.DecelEnable) when an deceleration ramp is desired.
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Torque Mode - Online
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Epsilon EP-P Drive Reference Manual
Revision: A4