Delta AX Series

AX-Series Motion Controller Instructions Manual Chapter 2
169
 When the DMC_TorqueControl instruction is run, 0x6071 (Target Torque), 0x6077 (Torque actual value), 0x6060
(ModeOfOperation) and 0x6061 (ModeOfOperationDisplay) OD must be included in the slave PDO mapping data.
Otherwise, an error will occur.
 Troubleshooting
 If an error occurs during the execution of the instruction, bError will change to True. You can refer to ErrorID (Error
Code) to address the problem.
 Programming Example
 This example shows the motion behavior performed by DMC_TorqueControl.
 Timing Diagram