MC_TorqueControl

Inputs

VAR_INPUT
    Execute            : BOOL; 
    ContinuousUpdate   : BOOL; 
    Relative           : BOOL; 
    Torque             : LREAL; 
    TorqueRamp         : LREAL;
    VelocityLimitHigh  : LREAL;
    VelocityLimitLow   : LREAL;
    BufferMode         : MC_BufferMode;
    Options            : ST_TorqueControlOptions; 
END_VAR

Execute: The command is executed with the rising edge.

ContinuousUpdate: If this input is TRUE on the rising edge at the "Execute" input, the "Torque", "TorqueRamp", "VelocityLimitHigh" and "VelocityLimitLow" inputs can be changed during the execution of the command and made effective as quickly as possible.

It should be noted that only the "Torque" value is transmitted cyclically.

Relative: If this input is TRUE, the torque value is changed relatively by the specified value "Torque".

Torque: Torque setpoint with which the drive is operated ("Relative" = FALSE) or by which the torque is to be changed ("Relative" = TRUE). (e.g. %)

TorqueRamp: Rate of change of the torque setpoint ( e.g. %/s)

VelocityLimitHigh: Upper velocity limit for limitation in CST mode (e.g. mm/s). This limitation must be configured accordingly in the process image.

VelocityLimitLow: Lower velocity limit for limitation in CST mode (e.g. mm/s). This limitation must be configured accordingly in the process image.

BufferMode: Only "Aborting" is supported.

Options: Data structure (ST_TorqueControlOptions), which contains additional, rarely required parameters. The input can normally remain open.

See also: General rules for MC function blocks

Outputs

VAR_OUTPUT
    InTorque           : BOOL;
    Busy               : BOOL;
    Active             : BOOL;
    CommandAborted     : BOOL;
    Error              : BOOL;
    ErrorID            : UDINT;
END_VAR

InTorque: TRUE, if the axis has built up the set torque and no velocity limitation is active.

Busy: TRUE as soon as the command is started with Execute and as long as the command is processed. If "Busy" is FALSE, the function block is ready for a new order.

Active: Indicates that the function block controls the axis.

CommandAborted: TRUE if the command could not be fully executed.

Error: TRUE if an internal error occurs.

ErrorID: Returns the error number when the Error output is set.

See also: General rules for MC function blocks

Inputs/outputs

VAR_IN_OUT
    Axis : AXIS_REF;
END_VAR

Requirements