Delta AX Series

AX-Series Motion Controller Instructions Manual Chapter 2
127
2.2.9 MC_ReadActualTorque
 Supported Devices: AX-308E, AX-8, AX-364E
MC_ReadActualTorque reads the actual torque value of axis.
FB/FC Instruction Graphic Expression ST Language
FB MC_ReadActualTorque
MC_ReadActualTorque_instance(
Axis : =,
Enable : =,
Valid =>,
Busy =>,
Error =>,
ErrorID =>,
Torque => );
 Inputs
Name Function
Data
Type
Setting Value
(Default Value)
Timing to Take Effect
Enable Run the function block. BOOL
True/False
(False)
-
 Outputs
Name
Function
Data Type
Output Range (Default Value)
Valid
True when the parameter to read
exists and can be further
processed.
BOOL True/False (False)
Busy
True when the function block is
being run.
BOOL True/False (False)
Error True when an error occurs.
BOOL
True/False (False)
ErrorID
Record the error code when an error
occurs.
Refer to Appendix for error
code descriptions.
SMC_ERROR* SMC_ERROR (SMC_NO_ERROR)
Torque The actual torque of axis. LREAL Positive or 0(0)
*Note: SMC_ERROR: Enumeration (Enum)
 Output Updating Time
Name
Timing for Shifting to True
Timing for Shifting to False
Valid

When Enable is triggered to True.
 When the parameter to read exists.

When Enable turns from True to False.
 When Error is rising edge.