Torque Control function(or Push Motion function) by Ezi-SERVO is used when  the specified motor torque is needed during motioning and Stop(only in Stop- mode) status.
 
· In certain position, Position Control can be converted to Torque Control.
· After converted to Force Control from Position Control, it maintain the Torque when it reached the certain force.

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· Function explanation

In certain position, it changes to Torque Control from Position Control.
After converted to Torque Control, it moves to detect Work. When it reaches a certain Torque, it stops and then maintain the torque.

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①  Send Command ‘Push Motion’
②  Send Command ‘Position Motion’ and then run it. (Position Mode State)
③　It reduces the speed from ‘Position Motion’ and change the speed of ‘Push Motion’
     (In this case, the speed must be less 400[rpm])
④  It moves until detect the Work, and once detect maintain the torque.
     (Push Mode State) (In Position Signal Output)