Yaskawa DR2 Sigma Servo - Manual (Page 27)

1.1 Basic Understanding of AC Servos
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4) Speed/torque control Servopack can also provide torque control as shown below.
• Using Servopack in Speed/Torque Control Mode (Torque Control)
Position
monitoring
Position
information
Torque
reference
Host controller
Speed
reference
Servopack
(speed/torque
control)
Power
amplifier
(Analog
voltage)
Position Speed
Convert
Torque
(current)
feedback
Pulse train
Servomotor
Position feedback
Encoder
(Analog voltage)
Set the user constants for Servopack to switch between the following torque control
modes:
(1) Controlling servomotor torque by torque reference
(Torque control I)
(2) Operating servomotor by switching between torque reference and speed
reference
(Torque control II)
The host controller outputs a torque reference or speed reference to control the Servo-
pack.
It also receives a pulse train (position information) from the Servopack and uses it to mon-
itor the position.
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