ElmoMC SimplIQ Digital Servo Drives-Bell Getting Started - Manual (Page 32)

The SimplIQ for Steppers Getting Started & Tuning and Commissioning Guide
MAN-BELGS (Ver. 1.1)
32
Check Reset Commutation Every Hall Edge if your position sensor is not
mounted directly on the motor, but through a gear train or a backlash.
3.6 Motion Tuning
This step depends upon the drive method you choose.
3.6.1 Torque Drive
If you want to enhance the torque control smoothness and performance, you may
want cogging and speed corrections. For that you will need to tune a speed
controller (even though you will disable it later). After tuning the speed
controller, go to the Fine Tune tab, finish the fine tuning, and then back to the
Motion tab to select Torque control.
If you do not need to enhance the torque control, go to the Database tab and save
your work. Then exit the Conductor.
Figure 33: Motion tab for torque drives