Galil DMC-21x3, User Manual

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DMC-21x3 Accessories Appendix C Command Reference• 115
TK
FUNCTION:
Peak Torque Limit
DESPCRITION:
The TK command sets the peak torque limit on the motor command output and TL sets
the continuous torque limit. When the average torque is below TL, the motor
command signal can go up to the TK (Peak Torque) for a short amount of time. If
TK is set lower than TL, then TL is the maximum command output under all
circumstances.
ARGUMENTS:
TK n,n,n,n,n,n,n,n
n is an unsigned number in the range of 0 to 9.99 volts
n=0 disables the peak torque limit
n=? returns the value of the peak torque limit for the specified axis.
USAGE:
While Moving Yes Default Value 0,0,0,0,0,0,0,0
In a Program Yes Default Format 1.0
Command Line Yes
Controller Usage
ALL CONTROLLERS
OPERAND USAGE:
_TKn contains the value of the peak torque limit for the specified axis.
RELATED COMMANDS:
AG Amplifier Gain
TL Torque Limit
EXAMPLES:
TLA=7 Limit A-axis to a 7 volt average torque output
TKA=9.99 Limit A-axis to a 9.99 volt peak torque output