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伺服力矩控制模式下的力矩目标值(fTorque)计算
2022-07-07 16:38:00 【RXXW_Dor】
在一些非标装配项目中,伺服需要工作在力矩模式以便完成机械零件的规定扭力装配工作。这篇博文主要介绍伺服扭力(力矩)目标值的计算和力矩控制相关的程序编写。用户通常设定的都是扭力值,我们需要根据机械结构。传动比计算出伺服的目标力矩值,以完成我们的力矩控制。这里我们以总线型伺服为例讲解。
1、PDO
2、力矩目标值计算 3、力矩模式下的转速限制
4、目标转矩值计算
5、扭矩计算
(*扭矩计算*)
rTorque:= rForce*rRadius/rRatio;
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