SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's Manual
PAGE 6-25
6.6 Internal Function Generator
An internal function generator is provided, which is used to generate square wave excitation signals in torque and
velocity mode, and a spline shape in position mode, to aid in control loop tuning and general drive debug work.
6.6.1 Torque and Velocity Function Generator
Figure 6.10:- Torque and Velocity Function Generator Output Waveform
In torque and velocity mode a square shaped waveform, with variable amplitude, offset, duty cycle and period is
generated as shown above in the diagram.
The following parameters can be set by the user:
§ Speed Amplitude:- The Speed Amplitude determines motor velocity. The Speed-Amplitude is specified in units
of RPM. If the Speed Offset was set to 0, then the Speed Amplitude would set equal magnitudes of velocity
command in both the clockwise and counter-clockwise direction. The Speed Amplitude must be a positive number.
§ Speed Offset:- The Speed Offset is specified in units of RPM. It is added to the Speed Amplitude for one direction
of rotation and subtracted for the other direction.
§ Torque Amplitude:- The Torque-Amplitude is specified in units of Nm. If the Torque Offset is set to 0, then the
Torque Amplitude would set equal magnitudes of torque command in both clockwise and counter-clockwise
directions. The Torque Amplitude must be a positive number.
§ Torque Offset:- The Torque Offset is used to bias the torque command in one direction of rotation. Specified in
units of Nm.
§ Period:- The Period determines the time taken for one cycle of operation of the servomotor. It is specified in
seconds.
Function
Generator
Output
Period
On-Time
Duty-Cycle = On-Time*100
Period
Amplitude
Offset
Time
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