Torque Control Mode

In Torque Control application mode, the application control program or the motion planner provide torque setpoint values to the device using the cyclic data connection. Because motor current and motor torque are related by a torque constant, Kt, torque control is often synonymous with current control.

A position feedback device for this control mode is optional. If a feedback device is present, it can be used to return actual position, velocity, and acceleration data to the controller using the cyclic data connection.