National Instruments NI-Motion - Manual (Page 193)

Chapter 13 Torque Control
© National Instruments Corporation 13-3 NI-Motion User Manual
Torque Control Using Analog Feedback Algorithm
Figure 13-2. Torque Control Using Analog Feedback Algorithm
Start motion
Start motion
(optional)
Update target position
(optional)
Set operation mode
Loop waiting for move complete
Set to absolute mode
Load move constraints:
max velocity, max
acceleration, and max
deceleration in volts
Map the analog sensor as
the primary feedback for
the axis that is to maintain
a constant torque or force
Load target position in
terms of volts. If you want to
maintain 5 V, load 2047
counts. This applies to a ±5 V range
for ADC Channel & 12-bit ADC