MC_ReadActualTorque

Functional Description

This function block returns the torque in Nm as long as the value at the input Enable is TRUE.

If the input Enable is set to FALSE, the data is not valid, and the outputs are reset.

The torque value is read from the Sercos IDN P-0-3030.0.36. This IDN is defined for LXM32S and LXM28S drives. The IDN must be mapped before the function block can be used. Otherwise, the output ET_Result is set to ActualTorqueIDNNotMapped.

For a simulated drive, the output ET_Result is set to NoActualValuesWithSimulatedDrive.

Graphical Representation

Inputs

Input

Data type

Description

Axis

Axis_Ref

Reference to the axis for which the function block is to be executed.

Enable

BOOL

Value range: FALSE, TRUE.

Default value: FALSE.

The input Enable starts or terminates execution of a function block.

  • FALSE: Execution of the function block is terminated. The outputs Valid, Busy, and Error are set to FALSE.

  • TRUE: The function block is being executed. The function block continues executing as long as the input Enable is set to TRUE.

Outputs

Output

Data type

Description

Valid

BOOL

Value range: FALSE, TRUE.

Default value: FALSE.

  • TRUE: The value at the output Torque is valid.

  • FALSE: The value at the output Torque is invalid.

Error

BOOL

Value range: FALSE, TRUE.

Default value: FALSE.

  • FALSE: Function block is being executed, no error has been detected during execution.

  • TRUE: An error has been detected in the execution of the function block.

ErrorID

ET_Result

This enumeration provides diagnostics information.

Torque

LREAL

Torque in Nm.

NOTE: The unit is Nm (as opposed to the technical units defined in the PLCOpen specification).