Torque Control Using Monitoring Force Algorithm - National Instruments NI-Motion User Manual

Torque Control Using Monitoring Force Algorithm

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Map the position sensor
(encoder) as the primary
feedback for the axis that is
to maintain a constant
torque or force
Load move constraints:
max velocity, max
acceleration, and max
deceleration
Set operation mode
Set to relative mode
Loop reading the analog channel that is
connected to the force or torque sensor
Read analog sensor
Check against
required value
Update target position
(optional)
Start motion
(optional)
Figure 13-5. Torque Control Using Monitoring Force Algorithm
13-9
Chapter 13 Torque Control
NI-Motion User Manual