MC-Basic:TORQUE

Axystems:Template:Temporary-Specification 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=} {StartType = Generator-Completed, Immediate, Super-Immediate}

Availability

from 4.9.0

Limitations

Works only in Torque Operation Mode (TORQUEMODE).

Examples

Torque Ax1 trq StartType=Immediate

See Also

• OPMODE
• TIMETOTORQUE
• MC Operational Modes
• Operational Modes