Structure Of Torque Control Mode; Smoothing Strategy Of Torque Control Mode - Delta Electronics ASDA-A Series User Manual

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Chapter 6 Control Modes of Operation|ASDA-A&A+ Series

6.4.2 Structure of Torque Control Mode

Basic Structure:
The toque command processing is used to select the command source of torque control according to
chapter 6.4.1, including max. analog torque command (parameter P1-41) and smoothing strategy of
torque control mode. The current control block diagram is used to manage the gain parameters of the
servo drive and calculate the current input provided to motor instantaneously. As the current control
block diagram is too complicated, setting the parameters of current control block diagram is not allowed.
The function and structure of torque command processing is shown as the figure below:
(Command source:
Internal parameter)
(Command source:
External analog signal)
The command source is selected according to the state of TCM0, TCM1 and parameter P1-01 (T or Tz).
Whenever the command signal needs to be more smoothly, we recommend the users to use
proportional gain (scalar) and low-pass filter to adjust torque.

6.4.3 Smoothing Strategy of Torque Control Mode

Relevant parameters:
P1 - 07 TFLT
Default: 0
Applicable Control Mode: T
Unit: ms
Range: 0 ~ 1000 (0: Disabled)
6-32
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Internal
parameter
Proportion
Gain
A/D
P1-41
Analog signal
Smooth Constant of Analog Torque Command
(Low-pass Filter)
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TCM0,TCM1 signal of CN1
P1-12
~1-14
Command
selection
P1-01
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Low-pass
filter
P1-07
Communication Addr.: 0107H
Related Section:
Section 6.4.3
Revision April 2009
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