On 2010-07-09, Karl Townsend wrote:

But how does the control tell the drive what speed to use, if the
drive is in torque mode?

I do not quite understand this.

i

The control is smart, the drive is dumb. The control only tells the drive
what to until the next refresh. The control looks at actual position vs.
command position, acceleration, etc. and makes a decision for how much
motion till the next refresh to solve the positioning problem. The dumb
drive just gets a voltage and does what its told.

Karl, you and Ned have convinced me.

I am actually very happy, because I would get rid of a lot of cables
inside the control box, less complexity, less fear of tachs going bad
on me and the drives going berserk, etc.

I will use torque mode.

One last question, if someone could enlighten me, whi torque mode and
not "voltage mode"?

I am not trying to invent a better wheel with 4 minutes of experience,
or think that I know better than everyone, I just want to understand.

i