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measure current


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When the PMAC is controlling the motor with a torque-command output to the amplifier, it does not see any measurement of the motor current. A torque-mode amplifier is comparing the command value to the measured current internally, and setting a voltage to the motor to try to match the command and actual current levels.


Your best estimate of the motor current is the numerical torque command output from the servo loop to the amplifier in this mode.

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