Torque Control; Relevant Variables/Fb - Mitsubishi Electric MELSEC iQ-R Series User Manual

7.2

Torque Control

In torque control, the driver control mode is switched to cst and the control is carried out.

Relevant variables/FB

Variable/Structure name
AxisName.Md
SetVelocity
TargetVelocity
ActualVelocity
Cst_SetTorque
Cst_TargetTorque
MC_TorqueControl
Item Description
Function overview The driver is switched to the csp mode, and the torque control is executed based on the specified target torque.
Symbol
[Structured Ladder]
Applicable hardware and RD78G(H) (Structured Text)
software (Language)
Number of input area points
(byte)
80
Name
Set velocity
Target velocity
Actual velocity
Set torque at torque control
Target torque at torque control
MC_TorqueControl
DUT : Axis
B : Execute
B : ContinuousUpdate
L : Torque
L : TorquePositiveRamp
L : TorqueNegaiveRamp
L : LimitVelocity
L : Acceleration
L : Deceleration
L : Jerk
ENUM : Direction
W : BufferMode
UD : Options
Number of output area points
(byte)
8
details
Stores velocity specified value by adding acceleration/deceleration
Stores value set to the limit velocity (LimitVelocity)
Actural velecity (same as positioning control)
Stores set torque at torque control mode
Stores target torque at torque control mode
Axis : DUT
InTorque : B
Busy : B
Active : B
CommandAborted : B
Error : B
ErrorID : UW
Compiling method
Subroutine type
FB operation type
Real-time execution
7 DIRECT CONTROL
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7.2 Torque Control
7