Torque/Force Control Signal Attrib

These are the torque/force signal related attributes associated with a Motion Control Axis.

Torque Command

Command torque output from fine interpolator (if active) into torque input summing junction when configured for toque control.

Torque Trim

Additional torque command added to the torque input summing junction.

Torque Reference

Commanded torque reference input signal before torque filter section representing the sum of the Torque Command and Torque Trim signal inputs.

Torque Reference Filtered

Commanded torque reference input signal after torque filter section.

Torque Reference Limited

Commanded torque reference input signal after torque limiter section.

Torque Estimate

The Torque Estimate attribute is the estimated torque or force applied by the motor. Conceptually, for PM motor types this signal is the product of the torque constant, Kt, or force constant, Kf, and the Iq Current Feedback signal. Other motor types might require more sophisticated torque or force estimation algorithms.