Tightening
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6.5.2.5 TC - Run until Torque with Current Control
Step type Id: 3
Parameters: T (Torque), DIR (Direction).
Function: Run spindle, in DIR direction, until torque is T using current control.
The target torque T is converted to a corresponding motor current using the spindle
parameters T/C Factor, T/C Correction Factor and Gear ratio. This current is then set as
reference to the motor servo. The step is stopped when the servo reaches its set point.
Diagram:
Angle
Torque
T Target Torque
T
Step
Trace: Torque T is shown as a horizontal line from step start to step stop in trace when Torque vs.
Time is selected. Control parameters must be enabled in the trace form (see View of
trace curves).
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