Delta Electronics PCI-DMC-A01 Programming Manual page 223

Chapter 12 Torque Motion Control Packet Protocol API | PCI-DMC-A01 / PCI-DMC-B01
12.2 _DMC_01_set_torque
 FORMAT
I16 PASCAL _DMC_01_set_torque (U16 CardNo, U16 NodeID, U16 SlotID, I16 ratio)
 Purpose
Starts torque motion.
 Parameters
Name Data Type
CardNo
NodeID
SlotID
ratio
 Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
I16 ratio=-50; // If ratio is 50 then -50 divided by 1000 means rated torque is 5% and motor is
running CCW
/* Set ratio and begin torque motion */
I16 status=_DMC_01_set_torque(CardNo, NodeID, SlotID, ratio);
// If value of ratio is less than 0 then motor is running CCW. If value is greater than 0, motor is
running clockwise.
Revised March, 2012
Unit
U16 Number Unit
U16 Number Unit
U16 Number Unit
I16 Number
Description
CardNo is between 0~15
Node ID
Slot ID
Thousandths of rated torque. (CCW if less than
zero and clockwise if otherwise)
12-3