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■Abnormal completion
Execute
Busy
Active
InTorque
CommandAborted
Error
ErrorID
Error code
Value
MMERR_FB_AXIS_ERROR
MMERR_FB_START_NOT_POSSIBLE
MMERR_FB_AXIS_STOPPED
MMERR_FB_AXIS_NUMBER
MMERR_FB_VELOCITY
MMERR_FB_ACCDEC
MMERR_FB_DIRECTION
MMERR_FB_TORQUE
Point
• When Execute=ON, the function block is executed. If processing starts normally, Busy turns ON.
• When the axis is in torque control mode, Active turns ON. When the target torque is reached, InTorque turns ON. Once the
target torque is reached and InTorque turns ON, the state is retained until Execute is turned OFF, or control is cancelled.
• The axis state (FbAxisStatus) is the ContinuousMotion state.
• The execution is cancelled and control changes with a new MC_TorqueControl or MC_MoveVelocity.
• To stop operation use MC_Stop. When control is cancelled, CommandAborted turns ON.
• CommandAborted is turned OFF by Execute=OFF.
• This function block cannot be executed while positioning control function blocks (MC_MoveAbsolute, MC_MoveRelative,
MC_MoveAdditive) are being executed.
• The relationship between the target torque setting value and the direction in which torque occurs in the motor differs
depending on the settings of servo parameters "Rotation direction selection/travel direction selection (PA14)" and "Function
selection C-B POL reflection selection at torque control (PC29)". Refer to the following for details.
Servo amplifier Instruction Manual
• The rotation direction (Direction) of this function block is the direction when the servo parameter "Function selection C-B
POL reflection selection at torque control (PC29)" is set to "0: Enabled".
Supported version
API version
1.00
Inheritance hierarchy
MC_FunctionBlock
MC_TorqueControl
5 API LIBRARY DETAILS (FUNCTION BLOCK)
172
5.1 MC_FunctionBlock Class
Error code
Description
An error occurred.
Positioning can not be started.
The axis is in a Stopping state, or the stop command for the axis is ON.
A value outside the range is set to the axis No.
A value outside the range is set to the speed.
A value outside the range is set to the acceleration/deceleration time.
A value outside the range is set to the rotation direction.
A value outside the range is set to the target torque.
Software version
01
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