MC_TorqueControl

Functional Description

This function block starts the operating mode Profile Torque. In the operating mode Profile Torque, a movement is made with a target torque. The reference value for the target torque is supplied via the input Torque. When the target torque is reached, the output InTorque is set to TRUE.

Library and Namespace

Library name: GMC Independent PLCopen MC

Namespace: GIPLC

Graphical Representation

Inputs

Input	Data type	Description
Execute	BOOL	Value range: FALSE, TRUE. Default value: FALSE. A rising edge of the input Execute starts the function block. The function block continues execution and the output Busy is set to TRUE. This function block can be restarted while it is executed. The target values are overwritten by the new values at the point in time the rising edge occurs.
Torque	INT	Value range: -30000...30000 Default value: 0 Target torque in user-defined units. The value corresponds to 0.1% of the nominal torque of the motor. Example: Torque = 300 corresponds to 30% of the nominal torque of the motor. Refer to the drive documentation for an overview of the parameters.

Input

Data type

Description

Execute

BOOL

Value range: FALSE, TRUE.

Default value: FALSE.

A rising edge of the input Execute starts the function block. The function block continues execution and the output Busy is set to TRUE.

This function block can be restarted while it is executed. The target values are overwritten by the new values at the point in time the rising edge occurs.

Torque

INT

Value range: -30000...30000

Default value: 0

Target torque in user-defined units.

The value corresponds to 0.1% of the nominal torque of the motor. Example: Torque = 300 corresponds to 30% of the nominal torque of the motor.

Refer to the drive documentation for an overview of the parameters.

Outputs

Output	Data type	Description
InTorque	BOOL	Value range: FALSE, TRUE. Default value: FALSE. oFALSE: Target torque not reached. oTRUE: Target torque reached.
Busy	BOOL	Value range: FALSE, TRUE. Default value: FALSE. oFALSE: Function block is not being executed. oTRUE: Function block is being executed. NOTE: The output Busy remains TRUE even when the target velocity has been reached or Execute becomes FALSE. The output Busy is set to FALSE as soon as another function block such as MC_Stop is executed.
CommandAborted	BOOL	Value range: FALSE, TRUE. Default value: FALSE. oFALSE: Execution has not been aborted. oTRUE: Execution has been aborted by another function block.
Error	BOOL	Value range: FALSE, TRUE. Default value: FALSE. oFALSE: Execution of the function block is running, no error has been detected. oTRUE: An error has been detected in the execution of the function block.
ErrorID	WORD	Returns the value of a diagnostic code. Refer to Library Diagnostic Codes. If the value is 0 and if the output Error of this function block is set to TRUE, then the diagnostic code can be read with the output AxisErrorID of the function block MC_ReadAxisError.

Inputs/Outputs

Input/Output	Data type		Description
Axis	Axis_Ref		Reference to the axis (instance) for which the function block is to be executed (corresponds to the name of the axis). The name of the axis must be defined in the EcoStruxure Machine Expert Devices tree.

Additional Information

PLCopen State Diagram

Transition Between Function Blocks

Operating Mode Profile Torque