Mc_Torquecontrol Class - Mitsubishi MR-EM340GF User Manual

MC_TorqueControl class

Executes torque control for the specified axis at the specified torque.
class MC_TorqueControl : public MC_FunctionBlock
Member
■Input
Name Variable name
Axis information Axis
Execute command Execute
Target torque Torque
Forward torque time TorqueRampFwd
constant
Reverse torque time TorqueRampRev
constant
Speed limit Velocity
Rotation direction Direction
*1 Refer to function block units. (Page 149 Function block units)
■Output
Name Variable name
Target torque InTorque
reached
Executing Busy
Controlling Active
Execution cancel CommandAborted
Error Error
Error code ErrorID
Timing chart
■Normal completion
Execute
Busy
Active
InTorque
CommandAborted
Error
ErrorID
Torque
Data type Fetch Valid range Description
AXIS_REF*  
bool Startup only ON/OFF
double -1000.0 to
1000.0[%]
unsigned short 0 to 65535
[ms]
unsigned short
*1
double
short 1: Forward
2: Reverse
Data type Initial value
bool OFF
bool OFF
bool OFF
bool OFF
bool OFF
unsigned short 0
0
Specifies the pointer to the axis information class object.
Executes the function block when ON.
Sets command torque.
Set the ratio in units of % against the rated torque of the servo
motor being used.
Sets the time to reach the torque limit value from torque 0.
Sets the time to torque 0 from the torque limit value.
Sets the speed limit value when in torque control mode.
Specifies rotation direction.
Description
Indicates the specified torque has been reached.
Indicates the function block is in operation.
Indicates the function block is controlling the axis.
Indicates the execution is cancelled by another function block.
When ON, this indicates an error occurrence in the function
block.
Returns the error code of the error that occurred in the function
block.
5 API LIBRARY DETAILS (FUNCTION BLOCK)
5.1 MC_FunctionBlock Class
5
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