Chapter 11 Motion Control Instructions
11-157
3. Motion Curve and Timing Chart
TC_En
TC_InTor
TC_Bu
TC_Ac
TC_Err
TC_ErrID
30
Torque
Time
DMC_TorqueControl
When TC_En changes from FALSE to TRUE, DMC_TorqueControl is executed. Meanwhile TC_Bsy
changes from FALSE to TRUE. When TC_Act changes to TRUE, the instruction starts to control the axis
and the torque value will be increased according to the set change rate of the torque.
After the value of TC_Tor is set to 0, the torque value is decreased to 0 according to the set change rate
of the torque.
When TC_En changes from TRUE to FALSE, TC_InTor, TC_Bsy and TC_Act change from FALSE to
TRUE and the servo exits from the torque mode.
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