Mc_Torquecontrol (Torque Control) - Mitsubishi Electric MELSEC-Q-MR-JE-C Reference Manual

MC_TorqueControl (Torque Control)

Name
MC_TorqueControl_JEC
Overview
Item Description
Function overview Controls the specified axis with the specified torque.
Symbol
[Structured Ladder]
Symbol MC_TorqueControl_JEC (Axis, Execute, Torque, TorqueRamp, Velocity, Direction, InTorque, Busy, Active,
[Structured Text] CommandAborted, Error, ErrorID)
Labels
■I/O label
No. Variable name Name
(1) Axis Axis information
■Input labels (Load: П: Always, : Only at start)
No. Variable name Name
(2) Execute Execution command
(3) Torque Commanded torque
(4) TorqueRamp Torque slope
(5) Velocity Limit velocity
(6) Direction Rotation direction
■Output labels
No. Variable name Name
(7) InTorque Commanded torque
reached
(8) Busy Executing
(9) Active Controlling
(10) CommandAborted Abortion of
execution
(11) Error Error
(12) ErrorID Error code
MC_TorqueControl_JEC
(1) DUT: Axis
(2) B: Execute
(3) E: Torque
(4) L: TorqueRamp
(5) L: Velocity
(6) W: Direction
Data type
AXIS_REF_JEC
Data type
Bit
Single-precision
real number
Double-precision
real number
Double-precision
real number
Word [signed]
Data type
Bit
Bit
Bit
Bit
Bit
Word [unsigned]
Axis :DUT
InTorque :B
Busy :B
Active :B
CommandAborted :B
Error :B
ErrorID :UW
Setting range Description
 Page 59 AXIS_REF_JEC (Axis information)
Import Setting Description
range

ON, OFF ON: The FB is executed.

-1000.0 to The command torque is set.
1000.0 [%] Set the ratio to the rated torque of the servo motor to
be used in percentage.

0.0 to The slope of the torque command is set in
1000000.0 [%/ percentage per second.
s]

 Velocity
The velocity limit value in the torque control mode is
command on set.
"Page 21 Unit"

1, 2 The rotation direction is specified.
MC_DIRECTION definition can be used. Select one
of the following two values.
• mcPositiveDirection positive direction (1)
• mcNegativeDirection negative direction (2)
Default value Description
OFF It indicates that the torque has reached the specified
value.
OFF It indicates that the FB is in execution.
OFF It indicates that the FB is controlling the axis.
OFF It indicates that another FB has aborted the
execution of the FB.
OFF When ON, it indicates that an error has occurred in
the FB.
0 The error code generated in the FB is returned.
(1)
(7)
(8)
(9)
(10)
(11)
(12)
3 FB LIBRARY
3.2 Details of the FB Library
3
41