Force/Torque Control

Use the Force/Torque Control command to attach a force or torque to a joint axis so you can control the force of a linear joint or the torque of an angular joint. You can use functions and expressions to manipulate the value.

To apply the force to:

• The joint attachment, use a positive value.
• The joint base, use a negative value.

Where do I find it?

• Application: Mechatronics Concept Designer
• Command: Force/Torque Control

Related Tasks

• Control the force or torque of a joint

Related Reference

• Force/Torque Controller dialog box

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Control the force or torque of a joint

Source: https://docs.sw.siemens.com/en-US/doc/209349590/PL20250429951538534.mechatronics/xid1106891

This example shows how to apply a constant torque to a hinge joint.

Procedure

1. Create the required basic physics, including:
   • The rigid bodies
   • The collision bodies
   • The basic joint with fixed joint properties
2. To create a Hinge Joint to apply the torque, do the following:
   • Choose Home tab → Mechanical group → Basic Joint.
   • Create the joint with the following physical properties:
     • Basic Joint list = Hinge Joint
     • 1 = Attachment
     • 2 = Base
     • 3 = Axis Vector
     • 4 = Anchor Point
   • In the Name group, type a name for the hinge joint, and then press Enter.
   • Click OK.
3. Choose Home tab → Electrical group → Force/Torque Control.
4. In the graphics window, select the hinge joint.
5. In the Constraints group, set Torque to 5.
6. In the Name group, type a name for the controller, and then click OK.
7. Choose Home tab → Simulation group → Play.

In the simulation, torque is applied to the hinge joint.

Related Concepts

• Force/Torque Control

Related Reference

• Force/Torque Controller dialog box

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Force/Torque Controller dialog box

Source: https://docs.sw.siemens.com/en-US/doc/209349590/PL20250429951538534.mechatronics/xid1106893

Physics Object

Field	Description
Select Object	Lets you select a joint to control.
Axis Type	Lets you select the types of joints to display in the graphics window.

Constraints

Field	Description
Torque	Appears when Axis Type is set to Angular. Lets you set the torque value of an angular joint. Note: To apply the torque to the joint attachment, use positive force. To apply the torque to the base, use negative values.
Force	Appears when Axis Type is set to Linear. Lets you set the force value of a linear joint. Note: To apply force to the joint attachment, use positive values. To apply force to the base, use negative values.

Related Concepts

• Force/Torque Control

Related Tasks

• Control the force or torque of a joint