Mc_Torquecontrol; Variables - Omron Sysmac NY-series Instruction & Reference Manual

MC_TorqueControl

The MC_TorqueControl instruction uses the Torque Control Mode of the Servo Drive to control the tor-
que.
Instruction Name
MC_TorqueCon- Torque Con-
trol trol
Precautions for Correct Use
You cannot use this instruction for an NX-series Pulse Output Unit.

Variables

Input Variables
Name Meaning
Execute Execute
Torque Target Tor-
que
TorqueRamp Torque
Ramp
Velocity Velocity
Limit
NY-series Motion Control Instructions Reference Manual (W561)
FB/
Graphic expression
FUN
FB
MC_TorqueControl_instance
MC_TorqueControl
Axis
Execute
Torque
TorqueRamp
Velocity
Direction
BufferMode
Data type Valid range
BOOL TRUE or FALSE
LREAL 0 to 1000.0
LREAL Non-negative number
LREAL Non-negative number
3 Axis Command Instructions
MC_TorqueControl_instance (
Axis :=parameter,
Execute :=parameter,
Axis
InTorque Torque :=parameter,
Busy
TorqueRamp :=parameter,
Active
Velocity :=parameter,
CommandAborted
Direction :=parameter,
Error
BufferMode :=parameter,
ErrorID
InTorque =>parameter,
Busy =>parameter,
Active =>parameter,
CommandAborted =>parameter,
Error =>parameter,
ErrorID =>parameter
);
De-
fault
FALS The instruction is executed when
E the value of this variable changes
to TRUE.
300.0 Specify the target torque to output
to the Servo Drive in increments of
0.1%.
Specify a percentage of the rated
torque, i.e., the rated torque is
*1
100.0%.
The unit is %.
0 Specify the change rate of torque
from the current value to the target
torque.
The unit is %/s.
0 Specify the target velocity. The unit
is command units/s.
ST expression
Description
*2
3-335
3