National Instruments NI-Motion - Manual (Page 191)

© National Instruments Corporation 13-1 NI-Motion User Manual
13
Torque Control
To maintain constant torque or force, the sensor that returns the feedback
to the motion controller must return a value proportional to the torque or
force. The motion controller operates torque-control and position-control
systems in much the same way. The main difference is that the feedback in
position-control systems returns the current position, while the feedback in
torque-control systems returns a voltage proportional to the current force or
torque.
You can implement force feedback on NI motion controllers using either
analog feedback or by monitoring force.
Note The NI SoftMotion Controller does not support analog feedback.
Analog Feedback
In this mode, the torque or force sensor is connected to one of the analog
inputs on the NI motion controller. That analog channel is used as the
feedback sensor.
Figure 13-1. Torque Control Using Analog Feedback Flowchart