T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW
PAGE 6-28
6.7 Control Loop Overview
6.7.1 Torque Mode
The T200 can be operated in torque mode, with several sources of its torque command. In this mode the T200 acts as a
simple current amplifier, so that the torque produced by the motor is proportional to the analog command.
WARNING:- DANGER OF UNCONTROLLED MOTOR ACCELERATION
The T200 has specialised motor current compensation. For optimum performance the T200
operates a software model of the current loop. The correct motor electrical parameters are
required for this software model. Large errors in the motor parameters can result in uncontrolled
motion.
Small torque commands can result in a continuous motor acceleration. The velocity of the motor
can increase in an uncontrolled way if no counter-balancing torque is present. The user's control
system should ensure that the speed of the motor is monitored, and that a compensating torque
command is applied to control the motor speed if necessary.
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