Mitsubishi Electric MELSEC iQ-R Series User Manual page 258

*1 For a bit and the function description, refer to the following table.
Bit
0 to 2
3 to 15
16, 17
18
19 to 31
■Output variables
Name
Target torque reached
Executing
Controlling
Abortion of execution
Error
Error code
7 DIRECT CONTROL
256
7.2 Torque Control
Function description
Acceleration/deceleration method setting
0: mcAccDec (Acceleration/deceleration specification method)
1: mcFixedTime (Acceleration/deceleration time-fixed method)
For details, refer to the following.
Page 293 Acceleration/deceleration Processing Function
Empty (Reserved)
Torque ramp fuction selection
0: Ramp method
1: Time constant method
2: Fixed time method
Torque initial value selection
0: Target torque
1: Actual torque
Empty (Reserved)
Variable name Data type
InTorque BOOL
Busy BOOL
Active BOOL
CommandAborted BOOL
Error BOOL
ErrorID WORD(UINT)
Default Description
value
FALSE Indicates that the set torque has reached the
specified value.
FALSE Indicates that the FB is in execution.
FALSE Indicates that the FB is controlling the axis.
FALSE Indicates that another FB has aborted the
execution of the FB.
Turns TRUE when this FB is stopped by an error
or this FB is started during an error occurence.
Turns FALSE when Execute is FALSE.
FALSE When TRUE, it indicates that an error has
occurred in the FB.
0 The error code generated in the FB is returned.
For details, refer to the following.
Page 534 List of Error Codes