Velocity vs torque mode
26 Jan 2016 20:12 #69130
by Gatesy
Velocity vs torque mode was created by Gatesy
What are the advantages/disadvantages of both of these operating modes for a servo system?
What is recommended?
What is recommended?
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26 Jan 2016 20:21 #69132
by PCW
Replied by PCW on topic Velocity vs torque mode
Normally velocity mode is suggested as its easier to tune and doesn't need high update rates
Torque mode is appropriate where you need to know the motor load
Torque mode is appropriate where you need to know the motor load
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- Todd Zuercher
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26 Jan 2016 20:38 #69133
by Todd Zuercher
Replied by Todd Zuercher on topic Velocity vs torque mode
Velocity mode, (or when the velocity loop is closed by the drive, and the control sends a velocity command to the drive for movment) is usually much simpler to tune, and is less resource demanding for the control.
Torque mode, (velocity loop is closed in the control, the drive is mostly just a dumb amp and the control sends a torque (or current) signal to command a movement) much trickier to tune, and often requires a much faster servo thread speed to get good results.
For the most part if your drives offer both you'll want to choose velocity mode.
Torque mode, (velocity loop is closed in the control, the drive is mostly just a dumb amp and the control sends a torque (or current) signal to command a movement) much trickier to tune, and often requires a much faster servo thread speed to get good results.
For the most part if your drives offer both you'll want to choose velocity mode.
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