Delta Electronics High-Speed PCI 12-Axis Motion Control Card PCI-DMC-A01 - Manual (Page 223)

Chapter 12 Torque Motion Control Packet Protocol API | PCI-DMC-A01 / PCI-DMC-B01
Revised March, 2012 12-3
12.2 _DMC_01_set_torque
 FORMAT
I16 PASCAL _DMC_01_set_torque (U16 CardNo, U16 NodeID, U16 SlotID, I16 ratio)

Purpose
Starts torque motion.

Parameters
Name Data Type Unit Description
CardNo U16 Number Unit CardNo is between 0~15
NodeID U16 Number Unit Node ID
SlotID U16 Number Unit Slot ID
ratio I16 Number
Thousandths of rated torque. (CCW if less than
zero and clockwise if otherwise)

Example
U16 CardNo=0;
U16 NodeID=1;
U16 SlotID=0;
I16 ratio=-50; // If ratio is 50 then -50 divided by 1000 means rated torque is 5% and motor is
running CCW
/* Set ratio and begin torque motion */
I16 status=_DMC_01_set_torque(CardNo, NodeID, SlotID, ratio);
// If value of ratio is less than 0 then motor is running CCW. If value is greater than 0, motor is
running clockwise.