Delta ASD-M-0721 Series, Руководство пользователя

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Chapter 6 Control Mode of Operation ASDA-M
6-48
Revision December, 2014
6.4.2 Control Structure of Torque Mode
The basic control structure is as the following diagram:
The torque command unit is to select torque command source according to Section 6.4.1,
including the scaling (P1-40) setting and S-curve setting. 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 parameters. Only command end setting is
provided.
The structure of torque command unit is as the following diagram.
Analog Signal
Command
Selection
P1-01
Register
P1-12
~P1-14
Proportion
Gain
P1-41
Low-pass Filter
P1-07
A/D
TCM0, TCM1 signal of CN1
The upper path is the command from register while the lower one is external analog
command. The command is selected according to the status of TCM0, TCM1 and P1-01
(T or Tz). The torque represented by analog voltage command can be adjusted via the
scaling and can obtain a smoother response via low-pass filter.