116 •Appendix C Command Reference DMC-21x3 Accessories
TL (Binary 8a)
FUNCTION: Continuous Torque Limit
DESCRIPTION:
The TL command sets the continuous limit on the motor command output. For example,
TL5 limits the motor command output to 5 volts. The maximum output of the motor
command is 9.9982 volts. If the amplifier gain is set to AG2 on the AMP-205x0,
then the TL will be automatically set to 6.5. The TK value will remain as set, but
can be set as high as 9.9982 volts.
ARGUMENTS: TL n,n,n,n,n,n,n,n or TLA=n where
n is an unsigned numbers in the range 0 to 9.9982 volts with resolution of 0.0003 volts
n = ? Returns the value of the torque limit for the specified axis.
USAGE: DEFAULTS:
While Moving Yes Default Value 9.9982
In a Program Yes Default Format 1.0
Command Line Yes
Controller Usage
ALL CONTROLLERS
OPERAND USAGE:
_TLn contains the value of the torque limit for the specified axis.
RELATED COMMANDS:
AG Amplifier Gain
TK Peak Torque Limit
EXAMPLES:
TL 1,5,9,7.5
Limit A-axis to 1volt Limit B-axis to 5 volts Limit C-axis to 9 volts Limit
D-axis to 7.5 volts
TL ?,?,?,? Return limits
1.0000,5.0000,9.0000,
7.5000
TL ? Return A-axis limit
1.0000
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