- Parker Compact Servo Controller User Guide

Implementing a torque controller
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Programming:
Configuration:
P93 = +2 i.e. continuous operating mode
P94 = +1 i.e. linear ramp shape
P18 = +2 i.e. fast START activated
Names of the inputs and outputs:
I15 fast START a flank from 0 to 1 triggers the fast START
List of programs:
N001: ACCEL 100.............................................. ;sets the accelerating and braking ramps
N002: SPEED 100.............................................. ;sets the speed
Feed: ............................................................ ;mark
N003: POSR 225 ............................................... ;feed movement (triggered by fast START)
N004: GOTO feed (3)........................................ ;goes to data record N003
11.1.8 Implementing a torque controller
2 options are available:
Using speed control mode
You can attain a defined constant torque in speed control mode using the following setting.
♦
Set a high speed which cannot be reached.
♦
Define the desired torque using P16 in % of the nominal torque (max. 100%).
♦
Switch off errors E10 and E49 using P13=0.
COMPAX tries to reach the specified speed and increases the torque to the maximum permitted torque P16.
This value is maintained regardless of the load.
In position controller mode
♦
Specify a position which cannot be approached (which is beyond the load position).
♦
Define the desired torque using P16 in % of the nominal torque (max. 100%).
♦
Switch off errors E10 and E49 using P13=0.
♦
You can now use SPEED to also define the speed at which you can run up to the load (block position).
COMPAX tries to reach the specified postion and increases the torque in the load position to the maximum
permitted torque P16. This value is maintained regardless of the load.
Changing error response:
E49 can also be switched off individually:
E49 occurs when the current (and/or the torque) remains in the limitation for longer than P108.