Delta AX Series Instruction Manual page 174

AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l
When the DMC_TorqueControl instruction is run, 0x6071 (Target Torque), 0x6077 (Torque actual value), 0x6060
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(ModeOfOperation) and 0x6061 (ModeOfOperationDisplay) OD must be included in the slave PDO mapping data.
Otherwise, an error will occur.
Troubleshooting
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If an error occurs during the execution of the instruction, bError will change to True. You can refer to ErrorID (Error
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Code) to address the problem.
Programming Example
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This example shows the motion behavior performed by DMC_TorqueControl.
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Timing Diagram
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Ch a p t er 2
1 6 9