Mitsubishi Electric MELSEC-Q-MR-JE-C, Справочное руководство

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3 FB LIBRARY
3.2 Details of the FB Library
41
3
MC_TorqueControl (Torque Control)
Name
MC_TorqueControl_JEC
Overview
Labels
■
I/O label
■
Input labels (Load:
П
: Always,

: Only at start)
■
Output labels
Item Description
Function overview Controls the specified axis with the specified torque.
Symbol
[Structured Ladder]
Symbol
[Structured Text]
MC_TorqueControl_JEC (Axis, Execute, Torque, TorqueRamp, Velocity, Direction, InTorque, Busy, Active,
CommandAborted, Error, ErrorID)
No. Variable name Name Data type Setting range Description
(1) Axis Axis information AXIS_REF_JEC
 
Page 59 AXIS_REF_JEC (Axis information)
No. Variable name Name Data type Import Setting
range Description
(2) Execute Execution command Bit

ON, OFF ON: The FB is executed.
(3) Torque Commanded torque Single-precision
real number

-1000.0 to
1000.0 [%]
The command torque is set.
Set the ratio to the rated torque of the servo motor to
be used in percentage.
(4) TorqueRamp Torque slope Double-precision
real number

0.0 to
1000000.0 [%/
s]
The slope of the torque command is set in
percentage per second.
(5) Velocity Limit velocity Double-precision
real number
 
Velocity
command on
"Page 21 Unit"
The velocity limit value in the torque control mode is
set.
(6) Direction Rotation direction Word [signed]

1, 2 The rotation direction is specified.
MC_DIRECTION definition can be used. Select one
of the following two values.
• mcPositiveDirection positive direction (1)
• mcNegativeDirection negative direction (2)
No. Variable name Name Data type Default value Description
(7) InTorque Commanded torque
reached
Bit OFF It indicates that the torque has reached the specified
value.
(8) Busy Executing Bit OFF It indicates that the FB is in execution.
(9) Active Controlling Bit OFF It indicates that the FB is controlling the axis.
(10) CommandAborted Abortion of
execution
Bit OFF It indicates that another FB has aborted the
execution of the FB.
(11) Error Error Bit OFF When ON, it indicates that an error has occurred in
the FB.
(12) ErrorID Error code Word [unsigned] 0 The error code generated in the FB is returned.
DUT: Axis Axis :DUT
B: Execute InTorque :B
E: Torque Busy :B
Active :B
CommandAborted :B
Error :B
L: TorqueRamp
L: Velocity
W: Direction
ErrorID :UW
MC_TorqueControl_JEC
(1)
(8)
(9)
(10)
(11)
(12)
(2)
(1)
(3)
(4)
(5)
(6)
(7)