Delta DVP-15MC Series, Operation Manual

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Chapter 11 Motion Control Instructions
11-153
11
DMC_TorqueControl
FB/FC Explanation Applicable model
FB
DMC_TorqueControl controls an axis to work under torque mode and
carry out the torque output. DVP15MC11T
DVP15MC11T-06
DMC_TorqueControl
Ax is InTorqu e
DMC_TorqueControl_inst ance
Enable
Cont inuous Upda te
Busy
Ac tiv e
Veloc it y
Error
ErrorID
CommandAborted
Ac celeration
Deceleration
Jerk
Direc tion
Buf ferMode
Torque
TorqueRamp

Input Parameters
Parameter name Function Data type
Valid range
(Default)
Validation
timing
Axis
Specify the number of the
axis which is to be
controlled.
USINT
Refer to Functions of
Section 2.2.
(The variable value
must be set)
When Enable
changes to
TRUE .
Enable
The instruction is executed
when
Enable changes from
FALSE to TRUE.
BOOL
TRUE or FALSE
(FALSE)
When Enable
changes to
TRUE .
ContinuousUpdate Reserved - - -
Torque
Specify the target torque.
The torque is expressed
with the permillage of rated
torque of the servo axis. For
instance, the setting value
30 indicates that the set
torque is 30‰ of rated
torque of the servo axis.
While
Enable changes to
TRUE, modifying the
parameter value will make
the torque changed
immediately.
INT
Negative number,
positive number, 0
(0)
When Enable
changes to
TRUE .
TorqueRamp
Specify change rate of the
torque from current torque
to target torque. (Unit: ‰/s)
LREAL
Negative number,
positive number
(The variable value
must be set)
When Enable
changes from
FALSE to TRUE .
Velocity
When the torque control
instruction controls an axis,
the velocity of the axis
cannot exceed the setting
value.
(Unit: unit/s)
LREAL
Positive number
(The variable value
must be set)
When Enable
changes from
FALSE to TRUE.