LSIS XBF-PN04B, User Manual, Page: 403 / 820

Chapter 8 Program
8-121
(14) Torque Control
(a) Condition for torque control
(b) Error state
(d) Position of module
(h) Completion state
(i) Error state
(c) Servo on signal
(e) Command axis
(f) Torque value
(g) Torque gradient
(a) This is the condition for Torque Control
Conditions to execution the Control Torque command (XPM_TRQ). Once Torque Control command
executed, the corresponding axis executions Control Torque with the set torque value and torque gradient.
(b) Error state for each axis
According to exercise from “Chapter 8.2.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a
system regardless of errors, you can just inactivate the function.
(c) Servo on signal for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Servo On” for each axis.
This command only works when this is the condition for Servo is on. If the Control Torque command is
executed when it is not the state of servo on, No. 743 error takes place.
(d) Address of Positioning Module
In this example, Positioning Module is installed at the 3 slot of 0 bases.
(e) Axis of command execution
You can set an axis for M code cancellation. XBF-PN04(8)B supports for 4(8) axes. In the “execution of axis”
from the configuration of Parameter Setting, you can set a value for axis1 through axis4(8).
(f) After executing the Control Torque command, set torque value to drive under the Torque Control command.
The torque value range is -32768 through 32767%.
(g) Set gradient until the target torque in time. The gradient range is 0 through 65535ms.
(h) State of Operation complete
If function block is completed without error, “1” will be outputted and m aintain “1” until the next operation. If
error occurred, “0” will be outputted.
(i) Error State
This is the area that output error no. if there are errors in operation of function block.
(j) For more information, reference of Torque Control is in the “Chapter 9.2.21 Torque Control.”