Delta ASD-A3-0121, User Manual

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Operation Mode ASDA-A3
6-26
Revision December, 2017
6
6.4.2 Control structure of Torque mode
The following diagram shows the basic control structure of Torque mode:
Torque
command
Current
sensor
Torque
command
processing
Current
control
Resonance
suppression
Motor
Output torque
+
-
You use the Torque Command unit to specify the Torque command source (mentioned in
Section 6.4.1), including the scaling of the analog voltage (P1.041) and the S-curve setting. The
current control unit manages the gain parameters for the servo drive and calculates the current
for servo motor in real-time; you can only set this by commands.
The structure of Torque Command unit is as the follows:
Analog signal
Command
selection
P1.001
Register
P1.012 ~ P1.014
Analog voltage
scaling
P1.041
Low-pass filter
P1.007
A/D
CN1 TCM0, TCM1 signal
Control in the upper path is from the register while the in lower path it is from the external analog
voltage. You select the command according to the status of TCM0, TCM1, and P1.001 (T or Tz).
You can adjust the torque with the analog voltage scaling (P1.041) and you can smooth the
response with the low-pass filter (P1.007).