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Chapter 12 Torque Motion Control Packet Protocol API | PCI-DMC-A01 / PCI-DMC-B01
Revised March, 2012 12-3
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 Unit Description
CardNo U16 Number Unit CardNo is between 0~15
NodeID U16 Number Unit Node ID
SlotID U16 Number Unit Slot ID
ratio I16 Number
Thousandths of rated torque. (CCW if less than
zero and clockwise if otherwise)
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.