I've been bouncing this idea around in my head for a machine that I think the torque mode 8i20 and a servo would be good for. Tough to explain it's purpose but it would be used to pull a web of paper under constant tension as it's fed from some other machine behind it. So if the previous machine speed up the 8i20s servo would have to speed up to keep pulling at the same tension (or maintain the same current) , Sort of like this video of a clearpath servo running in torque mode:
Clearpath torque command
The difference being that I'm not sure that I'd have to supply a "digital torque command" in the form of PWM like with the Clearpath. If torque is directly related to current, the "torque" adjustment should just be a current command from linuxcnc. With no velocity command, the motor should speed up as fast as necessary to try to maintain the commanded current value. Curious about thoughts on this before I go building another wacky machine to prove an idea.
