Torque Control - Panasonic GM1 User Manual

11.3 Single-axis Operation
In the GM1 controller, "MC_MoveVelocity" is executed in position control mode or velocity
control mode (Default: Position control mode).
In the program example, "SMC_SetControllerMode" is used to switch to velocity control mode
(SMC_velocity).
In the program example, velocity control is started at the rising edge of the "Execute" flag of
"MC_MoveVelocity".
The "Busy" flag is set to TRUE during execution. While the "Busy" flag is set to TRUE,
"MC_MoveAbsolute_0" must be called every cycle. Otherwise, the operation will terminate with
an error.
When the velocity of the axis reaches the target velocity ("Velocity"), the "InVelocity" flag is set
to TRUE.
To change parameter settings such as target velocity ("Velocity") during operation, temporarily
set the "Execute" flag to FALSE beforehand. After parameter settings have been changed, if the
"Execute" flag is set back to TRUE, the changed parameter settings will be applied.
To stop the axis, change the setting of "Velocity" to 0 .

11.3.5 Torque Control

Torque control is performed at the specified torque.
Torque control can be executed with the "PMC_SetTorque" function block.
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Explanation of functions
● While input "bEnable" is set to TRUE, torque control is executed with input "fTorque" (unit:
%).
● Before executing the "PMC_SetTorque" function block, use the "MC_Power" function block to
turn ON the servo corresponding to the target axis.
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Program examples
The following is an ST program example that executes torque control with a torque of 30%.
11-36 WUME-GM1RTXOP-01