Chapter 6 Control Mode of Operation ASDA-A2R Series6-32 Revision December, 20146.4.2 Control Structure of Torque (force) ModeThe basic control structure is as the following diagram:The torque (force) command unit is to select torque (force) command source according toSection 6.4.1, including the scaling (P1-41) setting and S-curve setting. The currentcontrol unit manages the gain parameters of the servo drive and calculates the currentfor servo motor in time. Since the current control unit is very complicated, and is notrelevant to the application. There is no need to adjust parameters. Only command endsetting is provided.The structure of torque (force) command unit is as the following diagram.The upper path is the command from register while the lower one is external analogcommand. The command is selected according to the status of TCM0, TCM1 and P1-01(T or Tz). The torque (force) represented by analog voltage command can be adjustedvia the scaling and can obtain a smoother response via low-pass filter.
