Santerno Sinus Penta - Figure 8: Torque Reference Computing

PROGRAMMING GUIDE
SINUS PENTA
107/486
T
o
r
q
u
e
R
e
f
e
r
e
n
c
e
c
o
m
p
u
t
in
g
P
0
5
0
: P
0
6
4
P
0
7
1
: P
0
7
4
Input for
R
e
fe
r
e
n
c
e
C
1
4
3
,
C
1
4
4
,
C145,
C146
C
o
n
tr
o
l
M
e
th
o
d
Sa
turation
Active Mo
tor Selection
2°
Motor
3
°
M
o
t
o
r
M
o
to
r
1
configurat
ion
C009
Scaling
C
0
4
7
, C
0
4
8
Motor Limi
ts n.1
C
0
9
0
, C
0
9
1
M
otor Limits n.2
C
1
3
3
, C
1
3
4
Motor
Lim
its n.3
P000661-b
In
v
e
r
s
io
n
-
1
Cw/CCW
R
E
V
Saturation
P
0
6
7
: P
0
6
9
U
P
DOWN
+
U
p
D
o
w
n
V
a
r
ia
t
io
n
P
3
9
0
: P
3
9
9
Figure 8: Torque Reference computing