Overview

The Torque Output block connects a models output(s) to motor demands. The input from the Torque Output block is transferred to the drive Demand field and updated as determined by the Evaluate Block.

Example

The following parameters are used to configure this block at load time:

Motor Number	The number of the axis which is the source of the position data. This number may be absolute or linked to the Model Number.
Evaluate Block	This block allows you to specify whether the block executes Every Sample, Every Other Sample (Odd or Even), or Every Fourth Sample (and specify the First, Second, Third, or Fourth) or background. This provides greater flexibility in controlling the execution of a model and to preserve performance for other areas of motion control.
User Defined Block Priority	When selected, allows you to enter a Priority Code to modify Execution Ordering of this block. For more information, see Block Execution Order and User Defined Block Priority.
Priority	For an explanation of how the Priority field is used by the MechaWare Model Downloader, see Block Execution Order and User Defined Block Priority.
User Data 0	Application-specific data. See User Data Storage.
User Data 1	Application-specific data. See User Data Storage.

Matlab/Simulink

Simulink Interface

The Input of Torque Output block is transferred to the Motor Demand input.

The Motor Number of the Motor to receive the demand is determined by the Motor Number parameter. This number can be absolute or linked to the model number.

The block has two user data fields (User Data 0, User Data 1) to store application-specific data for convenient storage and retrieval. See User Data Storage for details.

The block's update schedule is determined by the Evaluate Block. The following Parameter Dialog Box can be opened by double-clicking on the block in a Simulink Model:

C++ API

TORQUE_OUTPUTBlock

Declaration

Public Method

	class TORQUE_OUTPUTBlock: public virtual Block { public: // User accessible coefficients };
	Required Header: mechaware.h

Description

The Torque Output block is used to connect the outputs of a model.

Methods

Block Methods