Table of Contents
Advertisement
AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l
*Note: DMC_ERROR: Enumeration (ENUM)
Output Update Timing
Name
bInTorque
bBusy
bCommandAborted
bError
ErrorID
Timing Diagram
bEnable
bInTorque
bBusy
bCommandAborte
bError
Inputs/Outputs
Name
Function
Specify the
Axis
axis.
*Note:
AXIS_REF_SM3 (FB): All function blocks contain this variable, which works as the starting program for function blocks.
Function
When bEnable turns to True, the values of lrTorque, dwTorqueRamp and lrVelocity of the DMC_TorqueControl
instruction are sent to the servo for torque control.
When bEnable is False, set the target torque lrTorque to 0 to make the axis decelerate to a stop. The instruction
execution is completed when the axis decelerates to a stop and bBusy turns to False.
Ensure that the axis is in Standstill state before instruction execution.
The servo will perform an immediate stop if SMC_SetControllerMode interrupts DMC_TorqueControl during
instruction execution. Do not do so.
Only one DMC_TorqueControl instruction is allowed to run at a time. If the second DMC_TorqueControl instruction is
also run at the same moment, an error "DMC_TC_FB_CONFLICT" will occur.
Timing for shifting to True
When the bEnable is True and the axis
motion state can be read.
When bEnable turns to True.
When this instruction is aborted by
another instruction.
When an error occurs in the execution
conditions or input values for the
instruction.
Data Type
AXIS_REF_SM3
*
When bEnable turns to False.
When bError turns to True.
When bEnable turns to False.
When bError turns to True.
When bEnable turns to False.
When bEnable turns to False. (The value in
ErrorID is cleared.)
Setting Value
When bEnable turns to True and bBusy is
AXIS_REF_SM3
False.
Timing for shifting to False
Timing to Take Effect
Ch a p t er 2
1 6 8
Advertisement
Chapters
Table of Contents
