3
b Configuration (Torque Mode)
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Torque Mode Configuration
The terms ‘Torque Mode’ and ‘Current Mode’ are synonymous. They can be interchanged
and you may see either of these terms throughout this document and other motion control
documents.
The Switches and Potentiometers set the mode on the drive. Use the Mode Selection Table
for the correct configuration.
Mode Selection Table – Torque Mode
SW1
Off
SW2
Off
SW3
On
Switches
SW4
Off
Pot1 Loop Gain
Full CCW
Pot2 Current Limit
8.4 turns*
Pot3 Reference Gain
Full CW
Pots
Pot4 Offset
Set for no torque
Current Limit with these settings – 3.7A continuous, 7.4A peak
* Potentiometer Instructions – CW is the clockwise direction, CCW is the counterclockwise
direction. Full CW or Full CCW means the pot has been turned to the end of its travel where
it begins to click on every turn. These potentiometers have a 14 turn range before they
start to click.
The number of potentiometer turns on the Mode Selection Table is referenced from the full
counterclockwise position. To maintain consistency in the number of turns the initial
starting point is defined as follows:
1. Turn the pot CCW until the pot begins to click on every turn.
2. Continue to slowly turn the pot CCW until the next click is heard, then stop.
3. Now turn the pot in the CW direction the number of turns indicated in the Mode
Selection Table.
Gain Setting
The gain of the drive (amps out)/(volts in) can be adjusted using the Reference Gain
Potentiometer, Pot 3. Turning the pot to the full clockwise position results in a gain of
roughly .75 A/V. Turning the pot counter clockwise reduces the gain down to a minimum of
zero.
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