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Power PMAC to Unidrive SP over EtherCAT in Torque Mode!


jwjusti08
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I have the Power PMAC working with a Control Techniques Unidrive SP in Positioning Mode. I have tried to get it working in torque mode, but no success. Was wondering what I am doing wrong? I have done Position, Velocity, and Torque mode with other Motion controllers, so I would think DT should be able to do the same.

 

I am really trying to accomplish torque mode, because in position mode the drive is closing the servo loop, so none of the interactive tuning can be done inside of DT, all of the tuning is done in the drive. With torque mode we should be able to use the interactive tuning to more accurately tune the axis for the application. Your help is greatly appreciated.

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