How can I switch position mode to torque mode on SW?

[DWee.1]

Hi, I'm trying to use both position mode and torque mode.

​I saw a comment saying when the position control is activated on a motor, the speed and torque control mode cannot be used.

If so, can't it also be switched by turning the position control mode off and turning the torque mode on?

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​The thing that I want to purpose is when the motor receives position information through modbus protocols, it performs position control, and when it receives torque information, it executes torque control.(not using both while the motor activating)

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If there any solution that I can activated and deactivated the position control in software?

any help is much appreciated.

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P.S. I don't know if it's necessary, but this is the development environment I'm currently using.

NUCLEO-F303RE

NUCLEO-IHM16M1

MCSDK v5.4.7

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[cedric H]

Hello @DWee.1​ ,

After checking internally, there is unfortunately no easy way to switch from Torque mode to position control mode.

This is the first time we receive such request. Could you describe your application if it is not confidential.

It will help us to understand the opportunity to add this use case in our development roadmap.

Thanks & regards.

Cedric

[DWee.1]

Thanks for your reply @cedric H​ ,

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Here is the application description.

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Hardware structure : 2 jaw parallel gripper

Environment : BLDC motor(actuator), Modbus protocols(communication), 2 channel encoder without z signal(Sensor)

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• mode change : Receive the control(torque/position control) to be used in control mode register.
• torque control : Closing & object gripping with a constant torque by inputting the desired torque.

When the open signal is input, it moves to 0 degree by position control.

• position control : Enter the desired position to move to that position (moving the gripper jaw).

If the motor torque exceeds a certain value during operation, the operation stops.

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Position control and torque control should be able to be changed at ​any time (Except during motor operation) during system operation.

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If you have any question, please let me know.

I hope we can get information about the new version with the added function soon.

Thank you.

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[AMJ]

Is there an update to this, I need it for a similar application.