Delta ASDA-B3 Series, Руководство пользователя

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ASDA-B3 Operation Mode
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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
unit
Current control
unit
Resonance
suppression unit
Motor
Output torque
+
-
The Torque command processing unit selects the command source (see Section 6.4.1),
including the scaling parameter (P1.041) for rotation speed and S-curve parameter for
smoothing the torque. 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 processing unit is as follows.
Analog signal
Command
selection
P1.001
Register
P1.012 - P1.014
Scaling
P1.041
Low-pass filter
P1.007
A/D
TCM0 and TCM1 signals of CN1
The upper path is the command from the register and the lower one is the command from the
external analog voltage that you can select with the status of TCM0 and TCM1, and P1.001
(T or Tz). Adjust the torque with the analog voltage scaling (P1.041) and smooth the response
with the low-pass filter (P1.007).