160 Technical data
Torque servo configuration
The diagram on page 161 shows the torque-servo control configuration. Here, the
velocity loop has been removed and the output of the position controller is fed into the
current loop via the torque filters.
The torque servo configuration is useful when the drive is operating as a closed-loop
position controller and settling time must be minimized. Although the servo
configuration tends to give better velocity tracking when operating in position mode,
settling times can be longer.
The control mode switch allows the drive to operate in either torque or position
modes, but not velocity mode.
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