Difference between revisions of "MC-Basic:TORQUE"
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|DESCRIPTION= | |DESCRIPTION= | ||
| − | * Interpolates torque command (TCMD) value from its initial value to the given torque value. The interpolation is done using the value of '''min([[Axystems:MC-Basic:axis.TORQUECHANGERATIO|TorqueChangeRate]],[[Axystems:MC-Basic:axis. | + | * Interpolates torque command (TCMD) value from its initial value to the given torque value. The interpolation is done using the value of '''min([[Axystems:MC-Basic:axis.TORQUECHANGERATIO|TorqueChangeRate]],[[Axystems:MC-Basic:axis.TORQUECHANGERATIOMAX|TorqueChangeRateMax]])''' 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. | ||
| Line 23: | Line 23: | ||
* [[Axystems:MC-Basic:axis.OPMODE|OPMODE]] | * [[Axystems:MC-Basic:axis.OPMODE|OPMODE]] | ||
* [[Axystems:MC-Basic:axis.TORQUECHANGERATIO|TORQUECHANGERATE]] | * [[Axystems:MC-Basic:axis.TORQUECHANGERATIO|TORQUECHANGERATE]] | ||
| − | * [[Axystems:MC-Basic:axis. | + | * [[Axystems:MC-Basic:axis.TORQUECHANGERATIOMAX|TORQUECHANGERATEMAX]] |
* [[AXY:MC_Operational_Modes | MC Operational Modes]] | * [[AXY:MC_Operational_Modes | MC Operational Modes]] | ||
* [[AXY:Operational_Modes | Operational Modes]] | * [[AXY:Operational_Modes | Operational Modes]] | ||
}} | }} | ||
[[Category:Axystems:OperationalModes]] | [[Category:Axystems:OperationalModes]] | ||
Revision as of 10:56, 16 November 2011
Axystems:Template:Temporary-Specification
- Interpolates torque command (TCMD) value from its initial value to the given torque value. The interpolation is done using the value of min(TorqueChangeRate,TorqueChangeRateMax) 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 it's execution value of isMoving will be nonzero. Values of axis PCMD , VCMD , ACCELCOMMAND are not affected.
Short form
Torque
Syntax
Torque <axis> <Torque Value> {TorqueChnageRate=
Availability
from 4.9.0
Examples
Torque Ax1 trq StartType=Immediate