Delta AX Series Instruction Manual page 446

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
2.3.3.14 MC_TorqueControl_DML
Supported Devices: AX-308E, AX-364E

MC_TorqueControl_DML controls the torque by using the torque control mode of the applied servo drive.
FB/FC Instruction
FB MC_TorqueControl
MC_TorqueControl_DML_instance(
Axis : =,
bExecute : =,
bContinuousUpdate : =,
lrTorque : =,
dwTorqueRamp : =,
lrVelocity : =,
lrAcceleration : =,
lrDeceleration : =,
lrJerk : =,
Direction : =,
bInTorque =>,
bBusy =>,
bCommandAborted =>,
bError =>,
ErrorID =>);
Inputs

Name
bExecute
bContinuousUpdate
lrTorque
Function
The instruction is run when
bExecute turns from False to
True.
Continuously updates the
target torque when
Continuousupdate is True.
Specify the target torque.
(Unit: N.m)
Graphic Expression
ST Language
Setting Value
Data Type
BOOL
BOOL
Positive, negative
LREAL
Timing to Take Effect
(Default)
True/False
-
(False)
When bExecute turns to
True/False
True and Busy is False.
(False)
When bExecute turns to
or 0 (0) True and Busy is False.
Ch a p t er 2
4 4 1