Delta Electronics DVP15MC11T Operation Manual page 415

DVP15MC11T Operation Manual
corresponding error codes. When Enable changes from TRUE to FALSE, Error changes from
TRUE to FALSE and the content of ErrorID is cleared to 0.
Function

DMC_SetTorque sets the torque of the servo axis. The servo axis will work under the torque mode when
11
the instruction is executed.
1 
Programming Example
The example of executing the DMC_SetTorque instruction is decribed as follows.
1. The variable table and program
Variable name
Pwr
Axis1
Pwr_BM
Pwr_Sta
Pwr_Bsy
Pwr_Act
Pwr_Err
Pwr_ErrID
SetTq
SetTq_En
SetTq_InTorque
SetTq_Bsy
SetTq_Act
SetTq_Abt
SetTq_Err
SetTq_ErrID
11-92
MC_Buffer_Mode
DMC_SetTorque
Pwr
MC_Power
Ax is 1 Axis
True Enable
EnablePositive
True
Tru e EnableNegativ e
Pwr_BM BufferMode
SetTq
DMC_SetTorque
Ax is 1 Axis
SetTq_En Enable
20 0 TargetTorque
CommandAborted
Data type
MC_Power
USINT
BOOL
BOOL
BOOL
BOOL
WORD
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
WORD
1
S tatus P wr_Sta
Bus y Pwr_Bsy
Active Pwr_Act
E rror Pwr_Err
ErrorID Pwr_ErrID
2
InTorque S etTq_I nTorque
Bus y SetTq_Bsy
Active SetTq_Act
Set Tq_Abt
E rror
Set Tq_Err
ErrorID Set Tq_ErrID
Initial value
1
0
FALSE