Publication 1394-5.0 — May 2000
8-24 Configuring Your 1394 Analog Servo System
[Torq Source]
Configures the source of the torque reference for
the axis. Automatically changed when [Mode
Sel] (parameter 112) is changed (for
convenience during commissioning).
Parameter Numbers 360, 361, 362, 363
Parameter Group To r q D a t a
Display Units None
Parameter Type Read/Write
Change While Running Ye s
Linkable No
Default Value 0"Vel Out"
Selections 0 "Vel Out" Axis is configured as a standard velocity
commanded drive (velocity regulator output is
the torque source). [Prop Gain Kp], [Intg Gain
Ki], [Feed Fwd Gain], and [Droop] are active
parameters.
1 "Vel+DTrq+PLd" Axis is configured as a standard velocity
commanded drive with additional torque
inputs. The additional inputs to the final torque
summing node are the fixed [Cur Preload], and
the dynamic [Dig Torq Ref] which can be linked
to a real-time digital input (the velocity regulator
output, the preload, and digital torque reference
sum to become the torque source). [Prop Gain
Kp], [Intg Gain Ki], [Feed Fwd Gain], [Droop],
[Cur Preload] and [Dig Torq Ref] are active
parameters.
2 "Dig Torq" Axis is configured as a digitally torque
commanded drive. The dynamic [Dig Torq Ref]
is meant to be linked to a real-time digital input.
[Dig Torq Ref] is the active parameter.
3 "Vel+ATrq+PLd" Axis is configured as a standard velocity
commanded drive with additional torque
inputs. The additional inputs to the final torque
summing node are the fixed [Cur Preload], and
the real-time analog voltage from the torque
inputs (TQREF+ and TQREF-). This analog
voltage is sampled every 256µs; typical use is a
torque feedforward input in a high performance
position loop system. Gain is 3V/100% rated
torque. Analog range is +10V (the velocity
regulator output, the preload, and digital torque
reference sum to become the torque source).
[Prop Gain Kp], [Intg Gain Ki], [Feed Fwd Gain],
[Droop], and [Cur Preload] are active parameters.
4 "ATrq1+PLd" Axis is configured as an analog torque
commanded drive, with the fixed [Cur Preload]
summed in. The real-time analog voltage from
the torque inputs (TQREF+ and TQREF-) are
utilized. This analog voltage is sampled every
256µs; typical use is a torque block for a
tensioner, an external position or velocity
controller, or as a torque follower. Gain is
3V/100% rated torque. Analog range is +10V
. In this mode, [Cur Preload] is the active parameter.
5 "ATrq2+PLd" Identical to Mode 4, except that the analog
torque inputs come from VREF+ and VREF-
instead of TQREF+ and TQREF-.
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