Delta DVP-15MC Series - Page 565

Chapter 11 Motion Control Instructions
11-95
11
corresponding error codes. When Enable changes from TRUE to FALSE, Error changes from
TRUE to FALSE and the content of ErrorID is cleared to 0.
 Function
DMC_SetTorque sets the torque of the servo axis. The servo axis will work under the torque mode
when the instruction is executed.
 Programming Example
The example of executing the DMC_SetTorque instruction is decribed as follows.
1. The variable table and program
Variable name
Data type
Initial value
Pwr MC_Power
Axis1 USINT 1
Pwr_BM
MC_Buffer_Mode
0
Pwr_Sta
BOOL
Pwr_Bsy
BOOL
Pwr_Act
BOOL
Pwr_Err
BOOL
Pwr_ErrID
WORD
SetTq DMC_SetTorque
SetTq_En BOOL FALSE
SetTq_InTorque
BOOL
SetTq_Bsy
BOOL
SetTq_Act
BOOL
SetTq_Abt
BOOL
SetTq_Err
BOOL
SetTq_ErrID
WORD
2
Axis1
200
SetTq_Bsy
SetTq_Act
SetTq_Abt
SetTq_En
SetTq_InTorque
DMC_SetTorque
Axis InTorque
SetTq
Enable
TargetTorque
Busy
Active
CommandAborted
SetTq_Err
Error
1
Axis1
True
True
Pwr_BM
Pwr_Bsy
Pwr_Act
Pwr_Err
Pwr_ErrID
True
Pwr_Sta
MC_Power
Axis Status
Pwr
Enable
EnablePositive
Busy
Active
EnableNegative
BufferMode
Error
ErrorID
SetTq_ErrIDErrorID