Delta Electronics ASDA-AB manual Structure of Torque Control Mode, Tflt

Chapter 6 Control Modes of OperationASDA-AB Series

6.4.2 Structure of Torque Control Mode

Basic Structure:

The toque command processing is used to select the command source of torque control according to chapter 6.4.1, including max. analog torque command (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. As the current control block diagram is too complicated, setting the parameters of current control block diagram is not allowed. The function and structure of torque command processing is shown as the figure below:

(Command source: Internal parameter)

(Command source: External analog signal)

A/D

Internal

parameter

P1-12 ~1-14

Proportion

Gain

P1-41

TCM0,TCM1 signal of CN1

Command			Low-pass
	selection				filter
		P1-01		P1-07

Analog signal

The command source is selected according to the state of TCM0, TCM1 and parameter P1-01 (T or Tz). Whenever the command signal needs to be more smoothly, we recommend the users to use proportional gain (scalar) and low-pass filter to adjust torque.

6.4.3 Smoothing Strategy of Torque Control Mode

Relevant parameters:

P1 - 07

TFLT

Smooth Constant of Analog Torque Command (Low-pass Filter)

Communication Addr.: 0107H

Default: 0	Related Section:
Applicable Control Mode: T	Section 6.4.3
Unit: ms
Range: 0 ~ 1000 (0: Disabled)

Revision January 2009 6-29