Torque control using monitoring force algorithm, Torque control using monitoring force algorithm -9 – National Instruments NI-Motion User Manual

Page 199

Advertising
background image

Chapter 13

Torque Control

© National Instruments Corporation

13-9

NI-Motion User Manual

Torque Control Using Monitoring Force Algorithm

Figure 13-5. Torque Control Using Monitoring Force Algorithm

Read analog sensor

Check against
required value

Start motion

(optional)

Update target position

(optional)

Loop reading the analog channel that is

connected to the force or torque sensor

Load move constraints:

max velocity, max

acceleration, and max

deceleration

Map the position sensor

(encoder) as the primary

feedback for the axis that is

to maintain a constant

torque or force

Set operation mode

Set to relative mode

Advertising