text: <s>[INST] Constant Force (Torque) Application I have a customer who has specified Kinetix Servos with an application that requires a force that is within 10% accurate and must hold that torque for a required amount of time. At any point, the system may need to adjust that torque. The torque feedback sensors will be TBD load cells. I'm working to convince this customer to utilize air cylinders with electronically adjustable regulators. I've done the math and am certain I can hit the requirement with air cylinders. Have any of you seen a Kinetix system utilized to create an accurate holding torque? I have never really used a servo system in this topology. Thanks! Seth [/INST] Fuller, I'm not a motion guy so there could be a better and newer solution.... About 10 years ago, I consulted on a Servo torque application that had load cell to measure force via 1734 Point IO. We could set a torque limit on the servo and observe the force on the load cell. Although the torque (current) per pound force would vary (due to motor heat, etc.) we had a good starting point to close in on the desired holding torque. The logic used an initial torque setting that would be slightly below the desired torque. Then it would measure the force on the load cell and increment the torque limit,,, repeat till it approached the desired force. The logic was a periodic task, if the force was below the target, then add to the torque limit... repeat as necessary. You could speed it up by making the task faster, or making the (torque) step size larger. The servo allowed us to quickly move into position where the part would contact the load cell using a low initial torque and the ramp up the to the final torque using the integrator logic. \\n </s>