MC_ReadActualTorque - General Information
Type: |
Function Block |
Available as of: |
1.0.5.0 |
Versions: |
current version |
The current torque of the axis is to be read out.
The current of the axis and the torque constant of the motor are read out. These are used to calculate the torque:
Torque [Nm] = (Current [mA] ) / (1000* TorqueConstant [Nm/a]).
Input |
Data type |
Description |
---|---|---|
Axis |
SystemConfigurationItf.IF_Drive |
The axis whose the torque is to be read out |
Enable |
BOOL |
TRUE: The torque is read out. |
Output |
Data type |
Description |
---|---|---|
Valid |
BOOL |
TRUE if the function block has a valid output |
Busy |
BOOL |
The function block is not finished and new outputs are still pending. |
Error |
BOOL |
Signalizes a detected error within the function block |
ErrorId |
DWORD |
Error identification |
Torque |
LREAL |
Value of the current torque in [Nm] |
q_etDiag |
General, library-independent statement on the diagnostic. A value unequal to GD.ET_Diag.Ok corresponds to a diagnostic message. |
|
q_etDiagExt |
POU-specific output on the diagnostic. q_etDiag = GD.ET_Diag.Ok -> status message q_etDiag <> GD.ET_Diag.Ok -> diagnostic message |
|
q_sMsg |
STRING[80] |
Event-triggered message which gives more detailed information on the diagnostic state. |
q_etDiag |
q_etDiagExt |
Enumeration value |
Description |
---|---|---|---|
OK |
0 |
Ok |
|
OK |
2 |
The output values are valid. |
|
InputParameterInvalid |
25 |
The connected drive is not supported. |
|
InputParameterInvalid |
26 |
The connected drive is invalid. |
|
InputParameterInvalid |
27 |
The connected drive is not initialized. |
Enumeration name: |
AxisInvalid |
Enumeration value: |
25 |
Description: |
The connected drive is not supported. |
Issue |
Cause |
Solution |
---|---|---|
- |
No drive has been applied at the input Axis. |
A valid drive must be transferred to the input Axis. |
Enumeration name: |
DriveInvalid |
Enumeration value: |
26 |
Description: |
The connected drive is invalid. |
Issue |
Cause |
Solution |
---|---|---|
- |
The drive connected at the input Axis does not support all required functionalities. |
The drive must support the SystemConfigurationItf.IF_RefActualValues interface. The drive must support the SystemConfigurationItf.IF_Motor interface. |
Enumeration name: |
DriveNotInitialised |
Enumeration value: |
27 |
Description: |
The connected drive is not initialized. |
Issue |
Cause |
Solution |
---|---|---|
- |
The function FC_DriveInit was not activated for the drive at the input Axis. |
Before using the POU, the drive must be initialized using the function FC_DriveInit. |
Enumeration name: |
Ok |
Enumeration value: |
0 |
Description: |
Ok |
The POU is waiting for jobs.
Enumeration name: |
Valid |
Enumeration value: |
2 |
Description: |
The output values are valid. |
The current torque of the axis is output.