This mode implements a very simple, easy-to-use method for having the output motor torque of a single axis track a +-10 VDC analog input signal.
The system includes both torque and velocity control methods in addition to the standard position control. For a multi-axes system, the torque control method is typically utilized for “freeing” up an axis so that it can be manually moved or to allow its position to accommodate external forces. This method can also be employed to have one or more axes apply forces while the remaining axes maintain their positions.
For simple, single axis controllers, it is sometimes beneficial to operate the controller in a torque-controlled mode where the motor torque level is being dictated by an external +- 10 VDC analog input signal. This allows the Guidance controller to behave in the same manner as a traditional “dumb” analog torque controller. This is convenient if you are transitioning your product from an older style amplifier and motor/encoder but wish to more slowly migrate your high-level controls.
The GPL language includes methods for initiating and flexibily controlling the torque control mode. As a convenience, an Automatic Execution mode is provided that starts execution of a simple torque control mode where a single axis is controlled by the value of an analog input signal.
To setup this method, set the “Automatic execution mode” (DataID 200) to 4 and follow the instructions in the previous sections for initiating the selected execution mode. When started, this will place the first motor of the first robot in the system into torque control mode. The torque level for this motor will be defined by the input of the first analog input channel in the system. A scaled ADC range of values from -1.0 to +1.0 will drive the motor at its full "rated" negative and possible torque. ADC values greater than +-1.0 are possible since the peak torques of motors is typically higher than the rated torques.
Please see the setup section for how to scale the first ADC channel to an appropriate range of values.