MCV_TorqueLimit

The MCV_TorqueLimit FB limits the maximum torque of the drive for every motion direction independently.

Block diagram

Parameters of the FB

VAR_IN_OUT
	Axis	AXIS_REF	Axis reference.
VAR_INPUT
	Enable	BOOL	If "Enable = TRUE, the torque limitation is active.
	TorqueLimitPositive	INT	Maximum torque of the drive in the positive direction of motion. Unit [0.1%].
	TorqueLimitNegative	INT	Maximum torque of the drive in the negative direction of motion. Unit [0.1%].
VAR_OUTPUT
	ActualTorque	INT	Currently effective torque of the drive. Unit [0,1%]
	LimitActive	BOOL	Torque limitation is activated.
	LimitReachedPositive	BOOL	The maximum torque for the positive direction of motion has been attained.
	LimitReachedNegative	BOOL	The maximum torque for the negative direction of motion has been attained.
	Error	BOOL	Indicates if an error has occurred.
	ErrorID	WORD	Error identification.

Behavior of the FB

The torque limit can always be specified whenever the ISG-MCP has been initialised correctly.
The torque limit must be specified separately for each motion direction of the axis. If no value is specified for the torque limit via the "TorqueLimitPositive" or "TorqueLimitNegative" inputs, the default of 100% is specified by the FB. Input values less than 0% and more than 130% are limited to 0% or 130% without any further acknowledgement.
The MVC_PosLagMonitor FB is used to deactivate following error monitoring.
The "LimitReachedPositive" and "LimitReachedNegative" outputs become TRUE whenever the currently acting torque corresponds to at least 95% of the torque commanded via this FB.