LSIS XGT Series - Torque Control (Mc_Torquecontrol)

Chapter 6 Motion Function Blocks
6-39
6.3.11 Torque control (MC_TorqueControl)
Motion Function Block
Input-Output
UINT
Axis
Specify the axis to be commanded (1~32: real axis)
Input
BOOL Execute
Give an absolute position operation command to the relevant axis in the rising
Edge.
BOOL ContinuousUpdate
Specify the update setting of input value.
(Refer to 6.1.5.Changes in Parameters during Execution of Motion Function
Block)
LREAL
Torque
Specify the target torque. [u]
LREAL
TorqueRamp
Specify the ascending slope of torque. [u/s]
LREAL
Velocity
Unused
LREAL
Acceleration
Unused
LREAL
Deceleration
Unused
LREAL
Jerk
Unused
UINT Direction
Specify the operation direction.
(1~2 : 1-Forward direction, 2-Reverse direction)
UINT BufferMode
Specify the sequential operation setting of motion function block.
(Refer to 6.1.4.BufferMode)
Output
BOOL InTorque
Indicate that the input torque value and currently operating torque value are
same.
BOOL
Busy
Indicate that the execution of motion function block is not completed.
BOOL
Active
Indicate that the current motion function block is controlling the relevant axis.
BOOL
CommandAborted
Indicate that the current motion function block is interrupted while it is running.
BOOL
Error
Indicate whether an error occurs or not.
WORD
ErrorID
Output the number of error occurred while motion function block is running.
MC_TorqueControl
AxisAxis
Execute InTorque
UINTUINT
BOOL BOOL
BOOL ContinousUpdate
LREAL Torque
Busy BOOL
CommandAborted BOOL
Error BOOL
ErrorID WORD
LREAL TorqueRamp
Active BOOL
LREAL Velocity
LREAL Acceleration
LREAL Deceleration
LREAL Jerk
UINT Direction
UINT BufferMode