Delta AX-3 Series, Operation Manual, Page: 205 / 370

C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n
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7.7.4 Torque control
Torque control can be categorized into Cyclic Synchronous Torque mode (CST) and Profile Torque mode (PT).
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Profile Torque mode (PT)
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Use DMC_TorqueControl to generate assigned torque output continuously through single axes.
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Notification
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When using DMC_TorqueControl, switch the control mode to cyclic synchronous torque mode.
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When using MC_TorqueControl, the control mode switches to torque mode and cannot use function
blocks regarding shifts or velocity. Use MC_TorqueControl Enable instead of MC_Stop to stop motors.
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Do not set Torque to 0, when setting is 0, MC_TorqueControl is reported as error.
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Use the velocity of DMC_TorqueControl to set the maximum velocity limit for servo motors which avoids
high speed rotation as motor load declines in torque mode.
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Adopt TorqueRamp to achieve the target torque value.
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When Torque is bigger than 0 (Torque > 0), the motor operates in positive direction.
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When Torque is smaller than 0 (Torque < 0), the motor operates in negative direction.