SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's Manual
PAGE 6-33
6.7.1.6 Analog Torque Limiting in Torque Mode
The Spare Analog input (SAIN) is used in Torque Mode as a means of reducing the maximum allowable torque in a
continuous way. Figure 6.16 below shows the linear relationship between the Analog Torque Limit and the input
voltage level between the SAIN inputs.
Figure 6.16:- Torque Limit Reduction as a function of Spare Analog Input (SAIN)
§ If the SAIN differential voltage is -10V, then the Analog Torque Limit is set to 0Nm. Thus a 10V input will totally
zero the motor torque output.
§ If the SAIN differential voltage is 0V, then the Analog Torque Limit is set to T
motor
(MAX). Thus a 0V input will
allow maximum motor torque output.
§ Note that the electrical and time-related characteristics of the SAIN input pair is defined in Section 3.15.
NOTE:- If the user does not wish to use the Analog Torque Input, then the
SAIN input pins can be left unconnected. This results in a zero differential
voltage across the SAIN input pair.
Tmotor
(MAX)
(SAIN+) - (SAIN-)
10V0V
Analog Torque Limit Tlimit
Tlimit as a function of SAIN differential voltage
-
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