Moog T200 User Manual

SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's Manual
PAGE 6-31
6.7.1.3 Rate Limiting in Torque-Mode
The T200 provides a means of limiting the rate of change of the actual torque. This limits the jerk (rate of change of
acceleration) which a sensitive load may experience during acceleration and deceleration phases of a motion.
The user can program the Torque Rate Value (specified in Nm) and the Torque Rate Time (specified in seconds). The
maximum allowable rate of change of actual torque is then given by:-
TimeRateTorque
ValueRateTorque
MAXcommandT
o
__
__
)( =
Figure 6.13:- Torque Reference Rate Limiting
Actual Torque
Torque Command
Torque Rate Time
Torque Rate Value
Time
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Moog T200 Specifications

General

Brand	Moog
Model	T200
Category	Servo Drives
Language	English