Monitoring Force

You can use this second force-feedback mode if you have a position sensor on the motor, in addition to the torque sensor. The control loop on the motion controller closes the position and velocity loops as usual. Use MAX to map the encoder as the feedback device for the axis.

For monitoring force, create an outer loop to monitor the torque sensor, and move the motor based on the value read from the torque sensor.

Torque Control Using Monitoring Force Algorithm

The following figure shows the basic algorithm for torque control using monitoring force applicable to both C/C++ and LabVIEW code.