Torque Offset

The torque offset value applies an open-loop compensation for systems where the load in one direction is not equal to the load in the opposite direction. For example, in a system where the motor is mounted horizontally, the torque needed to move up is less than the torque needed for moving down, so this system might need a torque offset to maintain a stable PID control loop. Different torque offsets can be loaded for the primary and secondary DAC.

Note  When an axis is killed, its DAC outputs are zeroed regardless of the torque offset loaded.

DAC offsets can be used in conjunction with DAC range limits to interface to servo amplifiers with unipolar input ranges (for example, 0 to 5 V or 0 to 10 V).