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B-4 Control System MN1942
B.1.2 Torque servo configuration
Figure 61 shows the torque-servo control configuration. Here, the velocity loop has been
removed and the output of the position controller is fed into the current loop via the torque filters.
The torque servo configuration is useful when the drive is operating as a closed-loop position
controller and settling time must be minimized. Although the servo configuration tends to give
better velocity tracking when operating in position mode, settling times can be longer .
The control mode switch allows the drive to operate in either torque or position modes, but not
velocity mode.
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