T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW
PAGE 6-30
6.7.1.1 Torque Command Sources
Three sources of torque command may be user-programmed:-
1/ Internal Function Generator. The T200 provides an internal software function generator. The function generator
produces rectangular pulses which provide a means of exciting the load, in order to diagnose applications problems or
tune the T200. The Torque Amplitude, Offset, Period of excitation and Duty Cycle are programmable. See section 6.5
Internal Function Generator for further information.
2/ Analog Source:- The analog command input is limited to the range ±10V. A 10V command corresponds to full
torque. The transfer function from voltage to torque is given by:-
V
MAXT
V
T
motor
in
motor
10
)(
=
where T
motor
(MAX) is the maximum torque the combination of motor and Servo-drive can produce at the motor shaft.
V
in
is the input voltage.
3/ Point Motion Controller Source:- The T200's integral Point motion controller creates a torque command as an
output of loop closure function blocks. This function is available in the 'P' software version only.
6.7.1.2 Torque-Command Analog Offset Adjust
The analog input offset may be adjusted such that the net effect of an offset in the User's Control System and offsets in
the T200's input conditioning and Analog to Digital conversion circuitry are cancelled. The T200 provides an automatic
mechanism for cancellation of the offset. It is assumed that when the cancellation procedure is invoked, that the present
analog command corresponds to zero torque command. The procedure calculates the average of 100 samples of the
Analog Digital input, and subtracts this average thereafter from the analog input command.
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