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B.1.1 Current (Torque) control
Setting the control mode to Current Control configures the FlexDrive
torque amplifier, as shown in Figure 50. Here, a torque reference is obtained from a specified
source.
Mint / host command (profiled)
H
High speed analog input (not profiled)
H
Analog input (profiled)
H
Fieldbus (profiled).
H
The source provides a signal that can either be fed directly into the Torque controller (only
when using the high speed analog input source), or through a profiler. The high speed
reference source is ideal for connecting to a motion controller (e.g. NextMove PCI) that will
have already profiled the signal and will provide optimum loop closure.
The profiler generates a torque demand signal that smoothly changes between successive
torque targets (reference values). This is achieved by specifying a rise time and fall time (see
the Mint WorkBench Parameters tool). The torque demand signal is fed into the torque
controller which determines the appropriate amount of current to apply to the windings of the
motor.
This demand current is compared with the actual winding current measured from sensors, and
a suitable pulse width modulation (PWM) signal is generated. This PWM signal is fed to the
power electronics in the drive.
Torque
reference
Figure 50 - Control structure in Current (Torque) control mode
B-2 Control System
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Torque
profiler
Torque
demand
High speed
torque reference
PWM
Torque
Power stage
controller
Measured current
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II
II
or Flex+Drive
as a
+ motor
MN1902
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