Elmo HARSFEN0602, HARmonica software manual 123, Unit Modes, Torque control Unit mode

HARSFEN0602ElmoHARmonicaSoftwareManual PRELIMINARYDRAFT

11 Unit Modes

The feedback structure of the amplifier can be arranged in several options. Those options are called "unit modes" and programmed by the parameter UM. Switching the unit mode is possible only with the motor off, since the feedback structure need be re-arranged.

The following unit modes are available:

Value Description (Related commands)

1Torque control mode.

2Speed control mode.

3Micro Stepper mode.

4Dual feedback position control.

5Single feedback position control.

123

11.1Torque control: Unit mode 1

In this mode the amplifier controls the motor torque only.

In this mode the amplifier may serve as a torque driver, controlled by an external controller. Commutation is performed to get the maximum torque for the commanded motor current.

If position sensors are connected, the position and the speed are evaluated, and the amplifier will abort upon over-speed, as specified by the parameters LL[2] and HL[2]

The torque command may be set either by a software command, an analog input, or a combination thereof, according to the figure below:

Analog input 1

`

(-10 to 10 Volts)

-

AG[1]

Amp/Volt

Enable if

RM==1

Stop

ΣManager

Torque command

(DV[1], Amp)

AS[1]Σ

TC

Figure 15: Unit mode 1 (Torque) structure

The AS[1] parameter compensates for possible offsets in the driving equipment and internally in the Harmonica.

If you are not using the analog input for torque command, set AG[1] =0 or RM=0, to avoid that noises and offset will affect the amplifiers torque command.

The combined (software and analog input) current demand is reported by DV[1]. The Stop Manager does as follows:

If hard-stop is active, the torque command is set to zero

If RLS is active, negative torque commands are clipped to zero

•If FLS is active, positive torque commands are clipped to zero.

The Stop-Manager does not affect the reference generator, and when the relevant switch is released, the torque command restores to the value set by the reference generator.