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{{Out-of-date}}
 
{{Out-of-date}}
 
{{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''> {TorqueChnageRate=<time>} {StartType = Generator-Completed, Immediate, Super-Immediate}
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|AVAILABILITY=
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|AVAILABILITY= from 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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Interpolates torque command (TCMD) value from its initial value to the given torque value. The interpolation is done in "Constant Velocity"-like profile. Means no smoothing of values and using the given TimeToTOrque in ms as a time of interpolation duration. 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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'''''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>
 
  
 
|TYPE=
 
|TYPE=
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|RANGE=:±DIPEAK
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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= Works only in Torque Operation Mode (TORQUEMODE).
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|EXAMPLE= DigitalTorque trq ''StartType=Immediate''
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|EXAMPLE= Torque Ax1 trq ''StartType=Immediate''
 
|SEE ALSO=
 
|SEE ALSO=
 
* [[AXY:MC-Basic:axis.OPMODE|OPMODE]]
 
* [[AXY:MC-Basic:axis.OPMODE|OPMODE]]

Revision as of 08:29, 8 November 2011

IMPORTANT.svgIMPORTANT
This entry is outdated and requires revision.

Interpolates torque command (TCMD) value from its initial value to the given torque value. The interpolation is done in "Constant Velocity"-like profile. Means no smoothing of values and using the given TimeToTOrque in ms as a time of interpolation duration. 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.

Short form

Torque

Syntax

Torque <axis> <Torque Value> {TorqueChnageRate=

Availability

from 4.9.0

Limitations

Works only in Torque Operation Mode (TORQUEMODE).

Examples

Torque Ax1 trq StartType=Immediate

See Also


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