Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 225
Modes of Operation Chapter 10
Control Structure of Torque Mode
The following diagram shows the basic control structure of torque mode:
The torque command unit is to specify the torque command source, including
the ID148 (P1.041) parameter 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; this can only set by commands.
The structure of a torque command unit is as follows.
The upper path is the command from register, while the lower one is the external
analog command. The command is selected according to the status of the
DI.TCM0 and DI.TCM1 signals, and with the ID117 (P1.001) parameter set to
T or Tz.
The torque can be adjusted by the ID148 (P1.041) parameter, and the response
can be smoothed by the ID123 (P1.007) parameter.
Table 84 - Relevant Parameters
Parameter Name
ID117 (P1.001) ControlMode
ID123 (P1.007) TorqueCmdLowPassFilterTime
ID148 (P1.041) AnalogToTorqueScale
Motor
Current Loop
Speed
Control
Speed
Command
Speed
Command
Processing
Resonance
Suppression
Current Sensor
Torque Limit
Analog Voltage
Scaling
ID148 (P1.041)
A/D
Register
ID116 …ID118
(P1.012…P1.014)
Command
Selection
ID117 (P1.001)
Low-pass
Filter
ID123 (P1.007)
I/O Connector DI.TCM0, DI.TCM1 signal
Torque
Ramp Time
Torque
Reference
I/O Mode - Torque
Analog Signal
= I/O Assembly Output Parameter
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