Appendix A Selecting Motor
Control Functionality
Introduction
The SC900 family has three distinct modes of controlling the
motor shaft and two distinct sources for the shaft command:
Modes
•
Torque Control
•
Velocity Control
•
Position Control
Commands
•
Analog Command
•
Program Control
A.1 Torque Block Modes
A.1.1 Analog Command Torque Block (BlkType = 0)
This mode allows the differential analog voltage between
terminals J4-1 and J4-2 to set the motor’s terminal torque current
amplitude. Since the actual motor current amplitude (
IFB
) times
the motor’s 0-peak line-line torque constant K
T
times
3
2
is the
shaft torque, then the analog input directly controls motor shaft
torque.
The overall gain of this block, i.e. the output current
amplitude in amps per input volt, is set by the
CmdGain
parameter directly in Amp/V and should be set by the user to the
desired value.
MA950
A - 1
