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

In/Outputs

Name	Type	Description
Axis	Reference To AXIS_REF	Reference to the axis

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

Possible error codes

For this function block, the following values, among others, are possible for the ErrorId output:

Error(Hex)	Error(Dec)	Error type	Description
0x813c	33084	Parameter	BufferMode is invalid. The BufferMode passed to the function block is unknown or not supported by the command (some commands accept only Aborting, others only Buffered).
0x8145	33093	Function Block	Mapping of cyclic interface between NC and PLC is missing (e.g., AXIS_REF, AXES_GROUP_REF, ...). A reference used by the function block (e.g., to an axis, group, mover or other motion object) is not linked to the corresponding NC object, or its cyclic mapping is incomplete.
0x81ac	33196	Parameter	Invalid load value. The load value specified for a pressure or force command is invalid (e.g., NaN or outside the permitted range).
0x81ad	33197	Parameter	Invalid load ramp value. The load ramp value (rate of load build-up) is invalid (e.g., less than or equal to zero or NaN).
0x81ae	33198	Parameter	Invalid load ramp derivative value. The load ramp derivative (rate of change of the load build-up) is invalid (e.g., less than or equal to zero or NaN). The value is optional and may be left unused.

An overview of all NC error codes can be found here:

Other errors

Version information

TwinCAT Standard >= v3.1.4026.23.1
TF5500 MC3 Base >= v4.0.6