Chopper Mode
The AMP-43240 runs in what is called a “Chopper” mode. The chopper mode is in contrast to the normal inverter
mode (AMP-43040) in which the amplifier sends PWM power to the motor of ±VS. In chopper mode, the amplifier
sends a 0 to +VS PWM to the motor when moving in the forward direction, and a 0 to –VS PWM to the motor
when moving in the negative direction.
Setting Peak and Continuous Torque Limits
TK and TL Commands:
The peak and continuous torque limits can be set through the TK and TL commands respectively. The controller will
command the torque signal (TT) up to the value specified by TK for a maximum of one second, as shown in Figure
A3.2. It will then limit the torque to the value specified by TL. The more time the controller commands the torque
below TL, the longer it will command it to TK when necessary. The DMC code example below exhibits the behavior
of TT being limited by TL and TK, as shown in Figure A3.2.
#TK;
'Begin Program
MO;
'Disable all axes
AGA = 2;
'Set maximum amplifier gain of 2.0 A/V
TLA = 5;
'Set maximum continuous torque limit of 5 V
TKA = 9.9982;
'Set maximum peak torque limit of 9.9982 V
SHA;
'Enable A axis
OFA = 9.9982;
'Command torque signal to 9.9982 V
EN;
'End Program
A3 – AMP-43240 (-D3240) ▫ 199 DMC-41x3 User Manual
Figure A3.2: Peak Current Operation
To Next Page
