Runs motor at given torque

Namespace: EAL.Interfaces.Motion
Assembly: EAL (in EAL.dll) Version: 1.1.5.0 (1.1.5.0)

Syntax

C#
void TorqueControl(
	double torque,
	double torqueRamp
)
Visual Basic
Sub TorqueControl ( 
	torque As Double,
	torqueRamp As Double
)
Visual C++
void TorqueControl(
	double torque, 
	double torqueRamp
)

Parameters

torque
Type: System..::..Double
Torque in which axis needs to be maintain
torqueRamp
Type: System..::..Double
Torque ramp in which axis axis reaches the given torque

Examples

Synchronous method
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private static void Sample()
{
   using (IEALConnection ealConnection = new EALConnection())
   {
       ealConnection.Connect("192.168.0.10");;                            // Eatablishes connection
       // Gets axis
        IAxis axis = ealConnection.Motion.Axes[0]; 
       axis.Movement.Power(false);                // Powers-off
       axis.SetCondition(AxisCondition.AXIS_CONDITION_ACTIVE_PARAMETERIZATION);   // Activates parameterisation mode
       ealConnection.Initialize();                         // Initializes the axis
       axis.SetCondition(AxisCondition.AXIS_CONDITION_ACTIVE);                    // Activates operating mode
       axis.Movement.Power(true);                 // Powers-on
       axis.Movement.TorqueControl(10, 1);        // Run axis in given torque value 
   }
}
Asynchronous method
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private static void Sample()
{
   using (IEALConnection ealConnection = new EALConnection(true))  // Asynchronous flag is true
   {
       ealConnection.Connect("192.168.0.10");;                            // Eatablishes connection, with give least time, given busy timeout and with given max delay        
       // Gets axis
        IAxis axis = ealConnection.Motion.Axes[0]; 
       axis.Movement.Power(false);                // Powers-off task will be added to the queue
       axis.SetCondition(AxisCondition.AXIS_CONDITION_ACTIVE_PARAMETERIZATION);   // Activate parameterisation mode will be added to queue
       ealConnection.Initialize();                         // Initializes the axis
       axis.SetCondition(AxisCondition.AXIS_CONDITION_ACTIVE);                    // Activate Operating mode will be added to queue
       axis.Movement.Power(true);                 // Powers-on task will be added to queue.
       axis.Movement.TorqueControl(10, 1);        // Run axis in given torque value task will be added to the queue
       ealConnection.WaitUntilQueueComplete();             // Waits untill all the task in the queue gets executed
   }
}

See Also