Delta ASD-B2-0121-F, User Manual

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Control Mode of Operation ASDA-B2-F
6-24
September, 2015
6
6.4.2 Control Structure of Torque Mode
Torque
Command
Current
Sensor
Torque
Command
Processing
Unit
Current Control
Unit
Resonance
Suppression
Unit
Motor
Output Torque
+
-
Figure 6-11 Basic Control Structure of Torque Mode
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.
Command
Selection
P1-01
Register
P1-12
~P1-14
Low-pass Filter
P1-07
TCM0 and TCM1 signal of CN1
Figure 6-12 Structure of Torque Command
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.