Delta D25886 User Manual download pdf (Page 85)

4. Motion Control Instructions

4-44 DVP-MC operating manual

4.4.15. DMC_SetTorque

API

Controller

DMC_SetTorque

Set torque

10MC11T

Explanation of the Instruction:

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 input and output parameter of the instruction:

Parameter

name

Explanation

Data

type

Available

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

Note:

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.

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Delta D25886 User Manual Page 85

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