Torque Mode

MankaranSingh

Hi,
Torque mode is pretty helpful for certain tasks. I know motorcortex will only work in position mode. Is there a torque mode implementation in generic app (like it implements velocity mode)?

MankaranSingh

I am reffering to machine-app sorry for the wrong tag.

Philippe

Our next release of the Machine-App will allow various torque control features:

you can connect setpoint generators and signal generators directly to the torque command of the servodrive, with optionally closing the velocity loop or the position loop on the motion controller
a 1D admittance control model as a setpoint generator. Connect a force sensor as the input to this module and the actuator will generate a position based on a virtual mass-spring-damper model. This actually also allows for multi-body models as well as non-linear springs and damper models. This can be used to apply a certain force on an object as well as hand-guiding for non-backdrivable axes.
impedance control (will be added in a later version); generate a force based on the axis displacement. This is useful in cases where admittance control is not suitable, for instance where the virtual mass is near-zero. This may be useful for tele-operation applications.

MankaranSingh

Philippe any updates on 1) ? any expected timeline ?

MankaranSingh

cool, I am looking to implement freedrive kind of thing, nothing fancy, but just about setting torque values per joints. what would be the timeline for new release ?
Thanks

MankaranSingh

Hi @Philippe . waiting for 1)
When will this expected version be released ?
I want to put drive in toruque mode and give torque commands. I personally love the generic app and dont want to shift to mcx core for now