Difference between revisions of "MC-Basic:axis.SUMTORQUE"
(Add note about SumTorque in position OpMode) |
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{{MC-Basic | {{MC-Basic | ||
|SHORT FORM= | |SHORT FORM= | ||
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{{Note/Important| | {{Note/Important| | ||
| − | If an axis is in '''POSITION''' OpMode and SumTorque is set to 1, the value set to property TAddCmd is added to TCmd. However, TCMD is meaningless in position OpMode, | + | If an axis is in '''POSITION''' OpMode and SumTorque is set to 1, the value set to property TAddCmd is added to TCmd. However, TCMD is meaningless in position OpMode, therefore this situation |
will actually have no real influence. If you want to use TAddCmd in position OpMode - set SumTorque to 0 !}} | will actually have no real influence. If you want to use TAddCmd in position OpMode - set SumTorque to 0 !}} | ||
|TYPE= | |TYPE= | ||
Latest revision as of 05:39, 21 April 2017
| Language: | English • 中文（简体） |
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Defines whether TAddCmd is added to the TCmd value in Torque mode. If true, the sum of TAddCmd and TCmd is sent as TCmd (IDN S-80) and zero as TAddCmd (IDN-81) to SERCOS.
0 - TAddCmd and TCmd are sent separately
1 - TAddCmd is added to TCmd
 | IMPORTANT |
|
If an axis is in POSITION OpMode and SumTorque is set to 1, the value set to property TAddCmd is added to TCmd. However, TCMD is meaningless in position OpMode, therefore this situation will actually have no real influence. If you want to use TAddCmd in position OpMode - set SumTorque to 0 ! |
Short form
STORQUE
Syntax
<axis>.SumTorque
Type
Long
Range
0, 1
Default
0
Scope
Task, Terminal
Limitations
Modal only
See Also