LSIS XBF-PN04B, User Manual, Page: 258 / 820

Chapter 7 Function Block
7-51
7.8.7 Position/Torque Switching Control (XPM_PTT)
Form of Function Block Description
Input
REQ : Request for execution of function block
BASE : Set the base no. with module
SLOT : Set the slot no. with module
AXIS : Axis to command
XBF-PN04B:1~4, XBF-PN08B:1~8
TRQ: torque value
Output
DONE : Maintain 1 after first operating
STAT : Output the error no. in operation
(1) Give “Position/Torque Switching Control” command to the axis designated as the axis of positioning module
with BASE (Base no. of Positioning module) and SLOT (Slot no. of Positioning module).
(2) When the designated axis receives position/torque switching control command in position control operation,
position control will be changed to torque control and keep moving until stop command.
(3) The range of Torque value is -32768~32767 and unit is [%]. The allowable range of torque value may vary
according to the connected servo drive. In general, target torque value is limited to the maximum torque setting.
(4) You can set axis to command in “AXIS” and the following value is available. If you set other values, error code
“6” appears.
XBF-PN04B:1~4, XBF-PN08B:1~8