Difference between revisions of "MC-Basic:TORQUE"
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| + | {{Languages|MC-Basic:TORQUE}} | ||
{{MC-Basic | {{MC-Basic | ||
|SHORT FORM= Torque | |SHORT FORM= Torque | ||
|SYNTAX= | |SYNTAX= | ||
| − | Torque <''axis''> <''Torque Value''> { | + | Torque <''axis''> <''Torque Value''> {TorqueChangeRatio=<''value''>} {TorqueChangeRatioMax=<''value''>} {StartType = Generator-Completed, Immediate, Super-Immediate} |
| − | |AVAILABILITY= | + | |AVAILABILITY= Since Version 4.9.0 |
|DESCRIPTION= | |DESCRIPTION= | ||
| − | * | + | *If executed in a mode different than TORQUEMODE a note will be thrown, but the command will be executed as usual |
| − | * Interpolates torque command ([[ | + | *Interpolates torque command ([[MC-Basic:element.TORQUECOMMAND|TCMD]]) value from its initial value to the given torque value. The interpolation is done using the value of '''min([[MC-Basic:axis.TORQUECHANGERATIO|TorqueChangeRatio]],[[MC-Basic:axis.TORQUECHANGERATIOMAX|TorqueChangeRatioMax]])''' value as a rate of TCMD value change. No additional smoothing is done. |
| − | * The torque interpolation is done using same mechanisms as motion interpolation. Depending on the value of <''axis''>.StartType the interpolation will start after the previous torque command was given or immediately (same rules as move command).The value of inpos for the starttype will be ignored and GCOMP will be used instead. | + | *The torque interpolation is done using same mechanisms as motion interpolation. Depending on the value of <''axis''>.StartType the interpolation will start after the previous torque command was given or immediately (same rules as move command).The value of inpos for the starttype will be ignored and GCOMP will be used instead. |
| − | * During execution the value of isMoving will be nonzero. Values of axis PCMD, VCMD, ACCELCOMMAND are not affected. | + | *During execution the value of isMoving will be nonzero. Values of axis PCMD, VCMD, ACCELCOMMAND are not affected. |
|TYPE= | |TYPE= | ||
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|EXAMPLE= Torque Ax1 10.1 ''StartType=Immediate'' | |EXAMPLE= Torque Ax1 10.1 ''StartType=Immediate'' | ||
|SEE ALSO= | |SEE ALSO= | ||
| − | * [[ | + | * [[MC-Basic:axis.OPMODE|OPMODE]] |
| − | * [[ | + | * [[MC-Basic:axis.TORQUECHANGERATIO|TORQUECHANGERATIO]] |
| − | * [[ | + | * [[MC-Basic:axis.TORQUECHANGERATIOMAX|TORQUECHANGERATIOMAX]] |
| − | * [[ | + | * [[MC-Basic:axis.SUMTORQUE|SUMTORQUE]] |
| − | * [[ | + | * [[MC-Basic:element.TORQUECOMMAND|TORQUECOMMAND]] |
| − | * [[ | + | * [[MC-Basic:axis.COUNTTORQUECOMMAND|COUNTTORQUECOMMAND]] |
| − | * [[ | + | * [[MC-Basic:axis.TORQUEADDCOMMAND|TORQUEADDCOMMAND]] |
| − | * [[ | + | * [[MC-Basic:axis.COUNTTORQUEADDITIVECOMMAND|COUNTTORQUEADDITIVECOMMAND]] |
| − | * [[ | + | * [[MC-Basic:element.TORQUEFEEDBACK|TORQUEFEEDBACK]] |
| − | * [[ | + | * [[MC-Basic:axis.COUNTTORQUEFEEDBACK|COUNTTORQUEFEEDBACK]] |
| − | * [[ | + | * [[MC-Basic:axis.TORQUEDRIVECOMMAND|TORQUEDRIVECOMMAND]] |
| − | * [[ | + | * [[MC-Basic:axis.COUNTTORQUEDRIVECOMMAND|COUNTTORQUEDRIVECOMMAND]] |
| − | * [[ | + | * [[MC-Basic:element.TORQUEGEARCOMMAND|TORQUEGEARCOMMAND]] |
| + | * [[MC-Basic:element.TORQUEGEARFEEDBACK|TORQUEGEARFEEDBACK]] | ||
| + | |||
| + | * [[OperationalModes| Operational Modes]] | ||
<br><br> | <br><br> | ||
| Line 46: | Line 50: | ||
* ''[[AXY:Operational_Modes | Operational Modes]]'' | * ''[[AXY:Operational_Modes | Operational Modes]]'' | ||
}} | }} | ||
| − | [[Category | + | |
| + | [[Category:OperationalModes]] | ||
Latest revision as of 08:20, 4 June 2020
| Language: | English • 中文（简体） |
|---|
- If executed in a mode different than TORQUEMODE a note will be thrown, but the command will be executed as usual
- Interpolates torque command (TCMD) value from its initial value to the given torque value. The interpolation is done using the value of min(TorqueChangeRatio,TorqueChangeRatioMax) value as a rate of TCMD value change. No additional smoothing is done.
- The torque interpolation is done using same mechanisms as motion interpolation. Depending on the value of <axis>.StartType the interpolation will start after the previous torque command was given or immediately (same rules as move command).The value of inpos for the starttype will be ignored and GCOMP will be used instead.
- During execution the value of isMoving will be nonzero. Values of axis PCMD, VCMD, ACCELCOMMAND are not affected.
Short form
Torque
Syntax
Torque <axis> <Torque Value> {TorqueChangeRatio=<value>} {TorqueChangeRatioMax=<value>} {StartType = Generator-Completed, Immediate, Super-Immediate}
Availability
Since Version 4.9.0
Type
<Torque Value> - double
Examples
Torque Ax1 10.1 StartType=Immediate
See Also