MC_LoadControl
This function block continuously exerts a torque, force or pressure of the specified value.
Positive torque, force and differential pressure is in the positive direction of velocity, pressure is
physically unsigned. LoadUnit must match the unit of the value measured by the corresponding sensor.
Syntax
Definition:
FUNCTION_BLOCK MC_LoadControl
VAR_IN_OUT
Axis : Reference To AXIS_REF;
END_VAR
VAR_INPUT
Execute : BOOL;
Load : LREAL;
LoadRamp : LREAL;
LoadRampDerivative : LREAL;
BufferMode : EBufferMode;
END_VAR
VAR_OUTPUT
InLoad : BOOL;
Busy : BOOL;
Active : BOOL;
CommandAborted : BOOL;
Error : BOOL;
ErrorId : UDINT;
END_VAR
Inputs
|
Name |
Type |
Default |
Description |
|---|---|---|---|
|
Execute |
BOOL |
|
Start the motion at rising edge. |
|
Load |
LREAL |
#Invalid |
Commanded load value ([LoadUnit]). It is approached using a defined ramp (LoadRamp). |
|
LoadRamp |
LREAL |
#Invalid |
Maximum load derivative ([LoadUnit/s], positive) |
|
LoadRampDerivative |
LREAL |
#Ignore |
Maximum load ramp derivative ([LoadUnit/s^2], positive). It can be left as 'Ignore' if no ramp derivative limit is desired. |
|
BufferMode |
EBufferMode |
Aborting |
Chronological sequence of the command |
Outputs
|
Name |
Type |
Description |
|---|---|---|
|
InLoad |
BOOL |
Commanded load value reached |
|
Busy |
BOOL |
Function block is not finished and new output values are to be expected. |
|
Active |
BOOL |
Function block has active control on the axis. |
|
CommandAborted |
BOOL |
Command is aborted by another command. |
|
Error |
BOOL |
Error occurred within function block. |
|
ErrorId |
UDINT |
Error identifier |