Y_GroupReadActualTorque
This function block returns the Actual Torque or force in percentage of rated torque,into a vector for each axis in the AxesGroup.
Parameters
| * | Parameter | Data Type | Description | Default |
|---|---|---|---|---|
| VAR_IN_OUT | ||||
| B | AxesGroup | AXES_GROUP_REF | A logical reference to a group of axes, which contains several additional substructures pertaining to the group. | |
| VAR_INPUT | ||||
| B | Enable | BOOL | The function will continue to execute every scan while Enable is held high and there are no errors. | FALSE |
| VAR_OUTPUT | ||||
| B | Valid | BOOL | Indicates that the function is operating normally and the outputs of the function are valid. | |
| B | Busy | BOOL | Set high upon the rising edge of the Execute input, and reset when Done, CommandAborted, or Error is true. In the case of a function block with an Enable input, a Busy output indicates the function is operating, but not ready to provide Valid information. (No Error) | |
| B | Error | BOOL | Set high if an error has occurred during the execution of the function block. This output is cleared when 'Execute' or 'Enable' goes low. | |
| E | ErrorID | UINT | If Error is true, this output provides the Error ID. This output is reset when 'Execute' or 'Enable' goes low. | |
| E | TorqueValues | VECTOR | Vector containing actual torqueor force in percentage of rated torquefor all axes configured in the group |
|
Notes
- Axis parameter 1004 (ActualTorque) is read for each axis and output to the TorqueValues vector.
Error Description
See the Function Block ErrorID List.
Example
Instance of
Y_GroupReadActualTorque
Torquereading. A Group with 2 Axis is commanded to position X= 100 and Y = -100 with a velocity of 10.0 using MC_MoveLinearAbsoulte.
The LogicAnalyzer timing trace for the above example of
MC_ReadActualTorque
is shown below:
