User manual

Chapter 6 Control Modes of Operation ASDA-A User Manual
4th Edition 2005/11/30, HE03 © DELTA ELECTRONICS, INC. ALL RIGHTS RESERVED
6-30
6-4-2 Structure of Torque Control Mode
Basic Structure:
To r qu e
command
Torque Command
Processing
Resonant Suppression
Block Diagram
Speed Loop
Current Sensor
Current Control
Block Diagram
Output Torque
In the above figure, the toque command processing is used to select the command source of torque
control according to chapter 6-4-1, including max. output of analog torque limit (parameter P1-41) and
smoothing strategy of torque control mode. The current control block diagram is used to manage the gain
parameters of the servo drive and calculate the current input provided to motor instantaneously. ASDA-A
series servo drive only provides input command parameter.
The function and structure of torque command processing is shown as the figure below:
A/D
P1-12
~1-14
P1-41
P1-01
P1-07
TCM0,TCM1 signal of CN1
Command
selection
Low-pass
filter
(Command source:
Internal parameter)
(Command source:
External analog signal)
Analog signal
Internal
parameter
Proportion
Gain
The command source is selected according to the state of TCM0, TCM1 and parameter P1-01 (T or Tz).
Whenever the command signal need to be more smoothly, we recommend users to use proportional gain
(scalar) and low-pass filter to adjust torque.