ASDA.AZ [Chapter 6 Control Mode of Operation 6.4 Torque Mode Torque control mode (T or Tz) is appropriate in torque control application, such as pr ing machine, ing machine, etc. There are two kinds of command source, analog input and register. Analog command input uses external voltage to control the torque of the motor while register uses the internal parameters (P1-12~P1-14) as the torque command. 6.4.1 Selection of Torque Command Torque command source are external analog voltage and parameters. It uses CN1 DI signal for selection. See as below. Torque Di signal of Nt cous, —CNt Command Source Content Range Temi | Tomo External analog Voltage between “tov ~ +10V 1 0 0 Mode command TREF-GND 5 ‘orque comman Tz None fier ° 12 04 P1-12 13 oe) Parameters 14 1 [4 The status of TCMO ~ TCM1: 0 means DI OFF and 1 means DI ON. When TCMO = TCM1 = 0, fit is in Tz mode, then the command is 0. Thus, if there is no need to use analog voltage as torque command, Tz mode is applicable and can avoid the problem of zero drift. Ifit is in T mode, the command will be the voltage deviation between T-REF and GND. Its input voltage range is -10V ~ +10V, which mean the corresponding torque is adjustable (P1-41) When neither TCMO nor TCM1 is 0, parameters become the source of torque command. The command will be executed after TCMO ~ TCM1 are changed, There is no need to use CTRG for triggering. The torque command can be used in torque mode (T or Tz) and speed mode (S or Sz). When it is, in speed mode, it can be regarded as the command input of torque limit. Revision June, 2078 eaChapter 6 Control Mode of Operation ASDA.AZ 6.4.2 Control Structure of Torque Mode The basic control structure is as the following diagram: Output Torque . Torque + omen] Torque! command >| Current Motor Command Processing Control Current Sensor The torque command unit is to select torque command source according to Section 6.4.1, including the scaling (P1-41) setting and S-curve setting. The current control unit manages the gain parameters of the servo drive and calculates the current for servo motor in time. Since the current control unit is very complicated, and is not relevant to the application. There is no need to adjust parameters. Only command end setting is provided. The structure of torque command unit is as the following diagram. TOMO, a signal of CN1 Tateral Parameter Pt12 P14 __ Selection [+ orgie [» Prot Proportion AD }—»}| Gain t P1-41 Analog Signal The upper path is the command from register while the lower one is external analog command. The command is selected according to the status of TCMO, TCM1 and P1-01 (T or Tz). The torque represented by analog voltage command can be adjusted via the scaling and can obtain a smoother response via low-pass filter. 648 Revision June, 2078