ASDA-B2 Chapter 6 Control Modes of Operation
Revision May, 2018 6-37
6.4.2 Control Structure of Torque Mode
The basic control structure is as the following diagram:
The toque command unit is to select torque command source according to Section 6.4.1,
including the scaling (P1-41) setting and S-curve setting. The current control unit manages
the gain parameters of the servo drive and calculates the current for servo motor in time.
Since the current control unit is very complicated, and is not relevant to the application.
There is no need to adjust parameters. Only command end setting is provided.
The structure of torque command unit is as the following diagram.
The upper path is the command from register while the lower one is external analog
command. The command is selected according to the status of TCM0, TCM1 and P1-01
(T or Tz). The torque represented by analog voltage command can be adjusted via the
scaling and can obtain a smoother response via low-pass filter.
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