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Setting Peak and Continuous Torque Limits
TK and TL Commands:
The peak and continuous torque limits can be set through the
will command the torque signal (TT) up to the value specified by
Figure A3.3. It will then limit the torque to the value specified by TL. The more time the controller commands the
torque below TL, the longer it will command it to
behavior of
TT
being limited by
#tk;
MO;
TLA=5;
TKA=9.9982;
SH
A;
OFA=9.9982;
EN;
A3 – AMP-20545/20525 ▫ 165
TK
when necessary. The DMC code example below exhibits the
TL
and TK, as shown in Figure A3.3.
'begin program
'disable all axes
'set maximum continuous torque limit of 5 V
'set maximum peak torque limit of 9.9982 V
'enable a axis
'command torque signal to 9.9982 V
'end program
Figure A3.3: Peak Current Operation
and
commands respectively. The controller
TK
TL
for a maximum of one second, as shown in
TK
DMC-21x5 User Manual 1.0a1
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