Sensor Torque Transformation

After linking the drive’s Sensor Torque to Motorcortex parameters via ECAT-Tool, a conversion gain is essential for accurate unit conversion. This process ensures proper communication and control between the drive and Motorcortex.

Configure sensor torque transformation via the GUI

You can define the sensor torque transformation between the drive unit [ticks] and the Motorcortex Unit [Nm] through the GUI under the Compliance Tab.

Example conversion between ticks and Nm:

1. Define Unit Conversion and Direction:

   • Set the conversion from ticks to Nm
   • Use the ratio: Gain Num/Gain Den = 1/1
   • This ensures proper conversion between drive ticks and Nm
   • Configure sensor torque polarity set Gain Num to -1 if polarity is reversed.

2. Reference the torque sensor:

   • Set Ref equal to Static Gravity Torque.
   • Press ref button to store offset in ticks.
   • Now your torque sensor is calibrated.

3. Save Configuration

   • Press Save Settings to store all your changes.

Configure sensor torque transformation via the DESK-Tool

To configure sensor torque transformation for an axis (e.g., axis 1) using the desk-tool: