MC_ReadActualTorque
This Function Block returns the value of the actual torque or force in percentage of rated torque. Note that peak torque will vary from 200 to over 300% based on the specific amplifier model.
Parameters
| * | Parameter | Data Type | Description | Default |
|---|---|---|---|---|
| VAR_IN_OUT | ||||
| B | Axis | AXIS_REF | Logical axis reference. | |
| VAR_INPUT | ||||
| B | Enable | BOOL | The function block will continue to execute every scan while Enable is TRUE and there are no errors. | FALSE |
| VAR_OUTPUT | ||||
| B | Valid | BOOL | The Valid output indicates that the function block is operating normally and the outputs of the function block are valid. | |
| B | Busy | BOOL | For function blocks with Execute input, the Busy output is set to TRUE upon the rising edge of the Execute, and set to FALSE when Done, CommandAborted or Error outputs becomes TRUE. In the case of a function block with an Enable input, Busy indicates that the function block is operating, but may not be ready to provide valid outputs. | |
| B | Error | BOOL | The Error output is set to TRUE if an error has occurred during the operation of the function block. The output is cleared when the Execute or Enable input becomes FALSE. | |
| E | ErrorID | UINT | The ErrorID output provides the identifier of the error when there is an active error in the function block execution. The output is cleared when the Execute or Enable input becomes FALSE. | |
| B | Torque | LREAL | The value of the actual torque or force in percentage of rated torque. | |
Notes
The output ActualTorque is a signed value. The actual torque is also available using MC_ReadParameter 1004.
Error Description
See the
Function Block ErrorID List
Example
Instance of MC_ReadActualTorque reading the Torque from Servo Axis 1 that is currently commanded to a velocity of 10.0 with MC_MoveVelocity.
The LogicAnalyzer timing trace for the above example of MC_ReadActualTorque is shown below:
