Hi Surikan I ended up writing a function that used a timer to calculate the torque every 4ms and then used SDOWrite to directly set the target torque.
Hi imdatatas, Thanks, that is useful but won't give me the functionality that I need. It looks like I am going to have to manually update the torque command every cycle.
Hi, I am trying to dynamically ramp the torque output to an etherCAT servo drive i.e. I need the torque to be 1Nm at t=1s and 2Nm at t=2s with a linear ramp between and then 5Nm at T=3s with a 3rd order polynomial transition. This is really easy to do with position but not torque and I see that according to the PLCOpen documentation Codesys doesn't support the MC_TorqueControl function block, only SMC_SetTorque which doesn't even allow for a linear ramp value. Can anyone advise if there is a library...