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).