T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW
PAGE 6-20
6.5.8 Torque-Velocity Control Mode switching
The TRQ-VEL digital input is used to switch the T200 from velocity mode to torque mode and back. This feature is
useful in nut-running and other applications. The TRQ-VEL input is only used when the user programs the T200 control
compensator to Velocity Mode. If the user programs either Torque or Position mode, then this input will be ignored.
The T200 will be placed in torque mode when current flows in the TRQ_VEL input. If no current flows, then the T200
will stay in or return to velocity mode.
When the T200 changes from torque control to velocity control, all velocity loop compensation variables are zeroed. In
particular the integral term of the velocity PI compensator is set to zero.
Software Latency to TRQ_VEL:- The T200 software will change the control mode in less than 8ms of a change of
state of the TRQ_VEL digital input.
6.5.9 Rotation Direction
Section 6.2.1 Direction of Rotation outlines the convention for positive direction of rotation. This convention is
reversed for the analog reference (REF± ) input and for the Programmable Speed function described in Section 6.4.10,
when the ROT_DIR digital input is activated. When current flows in the ROT_DIR input, the convention for the torque
or velocity command will be reversed.
Software Latency to ROT_DIR:- The T200 software will change the direction of rotation in less than 1ms of a change
of state of the ROT_DIR input, in control modes where this digital input is actually used by software
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