MC_ExtSetPointGenFeedWithTorque
The MC_ExtSetPointGenFeedWithTorque function is used to feed set values from an external setpoint generator to an axis. Compared to the MC_ExtSetPointGenFeed function, this function is extended by the transfer of a TorqueOffset. To ensure that the TorqueOffset is also transferred cyclically from the NC to the drive, this must be activated explicitly when the FB_ExtSetPointGenEnable is called via Options.UseTorqueOffset. The function copies the data to the cyclic axis interface instantaneously (ExtSetPos, ExtSetVelo, ExtSetAcc, ExtSetDirection, and ExtTorque) of the axis. The MC_ExtSetPointGenFeedWithTorque function result is unused and therefore always FALSE.
An external setpoint generator is usually a PLC function block that calculates cyclic set values for an axis and can therefore substitute the internal setpoint generator in an NC axis.
Additional information can be found under MC_ExtSetPointGenEnable and MC_ExtSetPointGenDisable.
Inputs
VAR_INPUT
Position : LREAL;
Velocity : LREAL;
Acceleration : LREAL;
TorqueOffset : LREAL;
Direction : DINT;
END_VARName | Type | Description |
|---|---|---|
Position | LREAL | Set position from an external setpoint generator |
Velocity | LREAL | Set velocity from an external setpoint generator |
Acceleration | LREAL | Set acceleration from an external setpoint generator |
TorqueOffset | LREAL | TorqueOffset from an external setpoint generator |
Direction | DINT | Set direction from an external setpoint generator. ( -1 = negative direction, 0 = standstill, 1 = positive direction) |
Inputs/outputs
VAR_IN_OUT
Axis : AXIS_REF;
END_VARName | Type | Description |
|---|---|---|
Axis | Axis data structure that unambiguously addresses an axis in the system. Among other parameters it contains the current axis status, including position, velocity or error state. |
Requirements
Development environment | Target platform | PLC libraries to include |
|---|---|---|
TwinCAT v3.1.4024 | PC or CX (x86 or x64) | Tc2_MC2 (from v3.3.68.0) |