Delta DVP-15MC Series User Manual

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
Axis InTorque
DMC_TorqueControl_instance
Enable
ContinuousUpdate
Busy
Active
Velocity
Error
ErrorID
CommandAborted
Acceleration
Deceleration
Jerk
Direction
BufferMode
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.

Delta DVP-15MC Series Specifications

General

Brand	Delta
Model	DVP-15MC Series
Category	Controller
Language	English