MC-Basic:TORQUE
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. <Torque Value> Value of the target torque in mA if greater then TMAX then the later value will be used , sending a note to the user.
TimeToTorque – time needed to reach the target torque value from the initial torque value.
TimeTorque – duration of the torque command, if set to –1 (default) endless torque command. (Same as TimeJog)
Type<Torque Value> : Double
<TimeToTorque>: Long
<TimeTorque>: - Long
Short form
DTorque
Syntax
DigitalTorque <Torque Value> {TimeToTorque=<time>} {<TimeTorque>=<time>} {<StartType=<starttype value>}
Range
- ±DIPEAK
Units
<Torque Value> : MilliAmperes
<TimeToTorque>: MSec
<TimeTorque>: MSec
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.
Examples
DigitalTorque trq StartType=Immediate