Control Structure Of Torque Mode - Delta ASDA-B2-F Series User Manual

Control Mode of Operation

6.4.2 Control Structure of Torque Mode

Torque
Command
6
The torque command processing unit is to select torque command source according to Section
6.4.1, including the S-curve setting for torque command. 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 the parameters, so only command end setting is provided.
The torque command processing unit is as the following figure.
The command from internal register is selected according to the status of TCM0, TCM1 and
P1-01. Low-pass filter is adopted for smoothing the performance to the command signal.
6-24
Torque
Command
Processing
Unit
Figure 6-11 Basic Control Structure of Torque Mode
TCM0 and TCM1 signal of CN1
Register
Command
P1-12
Selection
~P1-14
Figure 6-12 Structure of Torque Command
+
Resonance
Suppression
Unit
-
Low-pass Filter
P1-01
Output Torque
Current Control
Unit
Current
Sensor
P1-07
ASDA-B2-F
Motor
September, 2015