Chapter 6 Motion Function Blocks
(1) This motion function block is to give torque control command to the relevant axis.
(2) When executing torque control (MC_Torque), the relevant axis performs the control to keep the torque value specified in
Torque input.
(3) Giving a stop command or operation of other motion function block allow to interrupt specified velocity motion.
(4) Specify the gradient to reach the target torque value in TorqueRamp input.
(5) Specify the operation direction in Direction input. When setting the value outside the range and executing motion function
block, Error is On and “0x1017” occurs in ErrorID.
(6) Output InTorque is On when the relevant axis reaches the specified torque, and when torque control operation is
interrupted, it is Off.
(7) The axis is in 'ContinuousMotion' state when this motion function block is running.
(8) The changed parameters can be applied by re-executing the function block (Execute input is On) before the command is
completed. Only Torque, TorqueRamp, Direction input can be updated.
(9) Timing diagram
Execute
InTorque
Velocity
Time
Torque
(Target)
Target torque reach Stop command execution
Torque
=Stop command
deceleration
Stop
command
execution
Busy
Active
To Next Page
Loading...
