Editing Tuning torque controller
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{{info|Torque controller inside drive is implemented by a PI controller where P and I gains are controlled proportionally by {{param|ML}} and {{param|MR}} respectively.}} | {{info|Torque controller inside drive is implemented by a PI controller where P and I gains are controlled proportionally by {{param|ML}} and {{param|MR}} respectively.}} | ||
− | ==Direct inductance & resistance | + | ==Direct inductance & resistance method== |
In [[Granity]], there is no dedicated torque control PI gains as the software supports entering motor coil inductance and resistance where the suitable PI gains are calculated from. | In [[Granity]], there is no dedicated torque control PI gains as the software supports entering motor coil inductance and resistance where the suitable PI gains are calculated from. | ||
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If torque mode is the final desired operating mode, set-up the [[setpoint]] signal source from Granity Goals tab. Also see [[Signal path of motor drive]] for explanation of torque setpoint scale. | If torque mode is the final desired operating mode, set-up the [[setpoint]] signal source from Granity Goals tab. Also see [[Signal path of motor drive]] for explanation of torque setpoint scale. | ||
{{next|[[Tuning velocity controller]] - follow if drive will be used in velocity control mode|[[Tuning position controller]] - follow if drive will be used in position control mode }} | {{next|[[Tuning velocity controller]] - follow if drive will be used in velocity control mode|[[Tuning position controller]] - follow if drive will be used in position control mode }} | ||
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