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B-4 ControlSystem MN1942

B.1.2 Torque servoconfiguration
Figure 52 shows the torque-servo control configuration. Here, the velocity loop has been
removedand the output of the pos ition controller is fed into the current loop via the torque filters.
The torque servo configuration is useful when the drive is operating as aclosed-loop position
controller and settling time must be minimized. Althoughthe servo configurationtends to give
betterv elocity tracking when operating in position mode, settling times c an be longer.
Thec ontrol mode switch allows the drive to operate in either torque or position modes, but not
velocity mode.