Difference between revisions of "MC-Basic:TORQUE"

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m (moved AXY:MC-Basic:axis.DIGITALTORQUE to AXY:MC-Basic:axis.TORQUE: The name DigitalTorque was from SAC application where there ware both Analog and Digital torque modes. Here there is only one therefore the name change.)
 
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{{Out-of-date}}
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{{Languages|MC-Basic:TORQUE}}  
 
{{MC-Basic
 
{{MC-Basic
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|SHORT FORM= DTorque
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|SHORT FORM= Torque
 
|SYNTAX=
 
|SYNTAX=
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<nowiki>DigitalTorque <</nowiki>''Torque Value''> <nowiki>{TimeToTorque=<time>} {<TimeTorque>=<time>}</nowiki>'' <nowiki>{<StartType=<starttype value>}</nowiki>
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Torque <''axis''> <''Torque Value''> {TorqueChangeRatio=<''value''>} {TorqueChangeRatioMax=<''value''>} {StartType = Generator-Completed, Immediate, Super-Immediate}
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|AVAILABILITY=
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|AVAILABILITY= Since Version 4.9.0
 
|DESCRIPTION=  
 
|DESCRIPTION=  
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Executes Digital Torque command ,similar to Jog command with automatic scaling of the profiler-velocity to torque. Automatically causes the AMCS to enter digital torque mode. '''''<nowiki><Torque Value></nowiki>''''' Value of the target torque in mA if greater then TMAX then the later value will be used , sending a note to the user.<br>
 
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'''''TimeToTorque''''' – time needed to reach the target torque value from the initial torque value.<br>
 
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'''''TimeTorque''''' – duration of the torque command, if set to –1 (default) endless torque command. (Same as TimeJog)<br>
 
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'''Type'''<nowiki><</nowiki>''Torque Value''> : Double<br>
 
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''<nowiki><TimeToTorque>: Long</nowiki>''<br>
 
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''<nowiki><TimeTorque>: - Long</nowiki>''<br>
 
  
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*If executed in a mode different than TORQUEMODE a note will be thrown, but the command will be executed as usual
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*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.
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*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.
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*During execution the value of isMoving will be nonzero. Values of axis PCMD, VCMD, ACCELCOMMAND are not affected.
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|TYPE=
 
|TYPE=
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|RANGE=:±DIPEAK
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<''Torque Value''> - double
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|RANGE=
 
|UNITS=
 
|UNITS=
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<nowiki><</nowiki>''Torque Value''> : MilliAmperes
 
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''<nowiki><TimeToTorque>: MSec</nowiki>''
 
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''<nowiki><TimeTorque>: MSec</nowiki>''
 
 
|DEFAULT=
 
|DEFAULT=
 
|SCOPE=
 
|SCOPE=
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|LIMITATIONS=DigitalTorque OpMode.The axis must be attached to that task either implicitly (if no other task is accessing the axis) or explicitly using the “ATTACH” command.''' '''
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|LIMITATIONS=  
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|EXAMPLE= DigitalTorque trq ''StartType=Immediate''
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|EXAMPLE= Torque Ax1 10.1 ''StartType=Immediate''
 
|SEE ALSO=
 
|SEE ALSO=
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* [[AXY:MC-Basic:axis.OPMODE|OPMODE]]
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* [[MC-Basic:axis.OPMODE|OPMODE]]
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* [[AXY:MC-Basic:axis.TIMETOTORQUE|TIMETOTORQUE ]]
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* [[MC-Basic:axis.TORQUECHANGERATIO|TORQUECHANGERATIO]]
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* [[AXY:MC_Operational_Modes | MC Operational Modes]]
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* [[MC-Basic:axis.TORQUECHANGERATIOMAX|TORQUECHANGERATIOMAX]]
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* [[AXY:Operational_Modes | Operational Modes]]
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* [[MC-Basic:axis.SUMTORQUE|SUMTORQUE]]
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* [[MC-Basic:element.TORQUECOMMAND|TORQUECOMMAND]]
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* [[MC-Basic:axis.COUNTTORQUECOMMAND|COUNTTORQUECOMMAND]]
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* [[MC-Basic:axis.TORQUEADDCOMMAND|TORQUEADDCOMMAND]]
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* [[MC-Basic:axis.COUNTTORQUEADDITIVECOMMAND|COUNTTORQUEADDITIVECOMMAND]]
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* [[MC-Basic:element.TORQUEFEEDBACK|TORQUEFEEDBACK]]
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* [[MC-Basic:axis.COUNTTORQUEFEEDBACK|COUNTTORQUEFEEDBACK]]
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* [[MC-Basic:axis.TORQUEDRIVECOMMAND|TORQUEDRIVECOMMAND]]
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* [[MC-Basic:axis.COUNTTORQUEDRIVECOMMAND|COUNTTORQUEDRIVECOMMAND]]
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* [[MC-Basic:element.TORQUEGEARCOMMAND|TORQUEGEARCOMMAND]]
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* [[MC-Basic:element.TORQUEGEARFEEDBACK|TORQUEGEARFEEDBACK]]
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* [[OperationalModes| Operational Modes]]
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<br><br>
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* ''[[AXY:MC_Operational_Modes | MC Operational Modes]]''
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* ''[[AXY:Operational_Modes | Operational Modes]]''
 
}}
 
}}
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[[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



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