How can I integrate current or torque control to drive servo motors?

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Currently, there is a structure where we control the motors with current reference. But this is a very old and complex structure. Therefore, it is very difficult to intervene. I have a sample hardware as below. Do you have a suggestion to control these motors with current reference in a C project?

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Hi @omer.alumur,

I think we need some more information about your application.

A real current control (=torque control) would require to switch of position and speed controller of a servo drive. In most cases that is not what you want because there would not be any limitation in speed when load drops.

In most cases you would use something like MC_BR_VelocityControl:

https://help.br-automation.com/#/en/4/libraries%2Facp10_mc%2Falphabetische_ubersicht%2Fmc_br_velocitycontrol%2Fmc_br_velocitycontrol.html

With this, there is no position controller active but still a speed limitation. And with input ‘TorqueMode’ you can decide whether you just limit the torque or you use it to control the axis (within the given speed).

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HI,

I agree with Christoph that we need more information about your application requirements.

There are function blocks that activate a torque control and have a speed limitation, see:
MC_TorqueControl
MC_BR_TorqueControl

How often does the current (=torque) value change in your program?

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