Download Digital Servo Amplifier

Torque Mode with Encoder and Hall
Use this procedure for torque mode operation.
Applications include microprocessor control systems
that get position feedback from the motor encoder and
require current from the amplifier in response to a
control voltage at the inputs.
Prerequisites
• The amplifier must be configured for the motor by
downloading an amplifier file filename.cca or by
applying calculated values using a motor data file
filename.ccm.
• The motor must be connected to the amplifier.
When using a new vendor motor, the Encoder
checking and Auto phasing routines should be
executed in order to establish proper phasing.
Procedure
1. Disconnect the load from motor when testing
Torquemode operation.
2. Set the Operating mode to torque and
Command to 0.
3. Verify Current Loop Gain P>0 and I>0, Current
Limits, Phasing Mode Hall-Based.
4. Set commutation mode to Trapezoidal.
5. Apply changes then enable the amplifier.
6. Increase the command torque by 250mA and click
Apply. Repeat until motion occurs. Reverse
direction using a negative current.
7. Change commutation mode to Sinusoidal. Apply
command torque and verify the same direction of
motion.
8. Check Current Loop Bandwidth. (Optional for
properly calculated values.)
9. Save settings to desired preset and an amplifier file
–- filename.cca.
7XX8 Series Digital Servo Amplifier User Guide
4-3