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9. INTERFACE MODE
(3) Torque control mode
Switch to torque control mode is performed with the following procedure.
(a) Check that zero speed (ZSP) is turned ON.
(Not required when switching from speed control mode)
(b) Input the speed limit value during torque control mode to the torque control speed limit value.
(c) Input "2: Torque control mode" to the control mode command.
(d) Check that control mode status is "2: Torque control mode".
POINT
• Set the torque control speed limit value before switching modes.
API LIBRARY
• To check if zero speed (ZSP) is ON/OFF in (a) above, set
SSC_STSBIT_AX_ZSP to the status bit number with the
sscGetStatusBitSignalEx or sscWaitStatusBitSignalEx functions.
• Use the sscIfmTrqSetSpeedLimit function to set torque control speed limit
value in (b) above.
• Use the sscIfmSetControlMode function to set control mode command in (c)
above.
• Use the sscIfmGetControlMode function to check control mode status in (d)
above.