4. Motion Control Instructions 4.4.15. DMC_SetTorque DMC_SetTorque is applied to set the torque of the servo axis. When this instruction is executed, the servo axis works in mode of torque. Explanation of the Instruction: Explanation of input and output parameter of the instruction: Notes: 1. When the input value of "TargetTorque" is positive, the servo will move forward; when "TargetTorque" is negative, the servo will move reversely. 2. As “Enable” is on, this instruction remains in the effective status. The torque size will directly be changed following the changing “TargetTorque”. This instruction can not be aborted by other instructions including “Stop” instruction.
When this instruction is reset, the execution of it will be terminated and then other instruction can start to be executed. 4-48 DVP-MC operating manual API Set torque Controller 15 DMC SetTorque _ 10MC11T Parameter Data Available Explanation name type device Axis The node address of servo drive UINT Constant, D Enable This instruction is executed when “Enable” is on. BOOL M,I,Q, Constant TargetTorque For setting the size of the torque needed; the torque size is denoted with the permillage, e.g. the setting is 30, so the set torque is 30‰ the rated torque. When “Enable” is on, the torque size wil directly be changed following the changing “TargetTorque”.
INT Constant, D InTorque “InTorque” turns on as “Enable” is on; “InTorque” is reset as “Enable” is off BOOL M,Q Error If any error is detected, "Error" turns on; when "Enable" turns off, "Error" is reset. BOOL M,Q ErrorID Error code. Please refer to section 5.3. UINT Constant, D