Is it possible to use MC_GearIn in Torque mode?

Hello,

I am using the MC_GearIn in position mode. Right now i need to work in Torque mode. It is possible use MC_GearIn in Torque mode?

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Split from MC GearIn .

jacek d

I'll put it this way: the GearIn requires an axis to maintain a position loop which feeds its output to a speed loop. Which in turn feeds its output to a torque loop. You want to control a setpoint of a torque loop freely, so you must detach a torque loop setpoint from a speed loop output. How would you like then the GearIn to operate ?

 Don't know if it's me or because it is friday already, but somewhere in between lines you lost me 

But to give an answer to the initial question:

The motion control TOs do not offer any torque mode! They offer position based or speed controlled mode. All you can do regarding torque is MC_TorqueRange, MC_AdditiveTorque or MC_TorqueLimiting. But the way the question is asked I understand you'd like to drive the TOs torque based, and this is not possible.

Regards,
daviso