MC_TorqueControl, MCP_TorqueControl – Torque/force control
Block SymbolsLicensing group: MOTION CONTROL
Function Description
The MC_TorqueControl and MCP_TorqueControl blocks offer the same functionality, the
only difference is that some of the inputs are available as parameters in the MCP_ version of the
block.
The MCP_TorqueControl block generates constant slope torque/force ramp until maximum requested value has been reached. Similar profile is generated for velocity. The motion trajectory is limited by maximum velocity, acceleration / deceleration, and jerk, or by the value of the torque, depending on the mechanical circumstances.
Inputs
uAxis | Axis reference (only RM_Axis.axisRef–uAxis or yAxis–uAxis connections are allowed) | reference |
Execute | The block is activated on rising edge | bool |
Torque | Maximal allowed torque/force | double |
TorqueRamp | Maximal allowed torque/force ramp | double |
Velocity | Maximal allowed velocity [unit/s] | double |
Acceleration | Maximal allowed acceleration [unit/s] | double |
Deceleration | Maximal allowed deceleration [uunit/s] | double |
Jerk | Maximal allowed jerk [unit/s] | double |
Direction | Direction of movement (cyclic axis or special case only) | long |
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BufferMode | Buffering mode | long |
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Outputs
yAxis | Axis reference (only RM_Axis.axisRef–uAxis or yAxis–uAxis connections are allowed) | reference |
InTorque | Requested torque/force is reached | bool |
CommandAborted | Algorithm was aborted | bool |
Busy | Algorithm not finished yet | bool |
Active | The block is controlling the axis | bool |
Error | Error occurred | bool |
ErrorID | Error code | error |
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Parameter
kma | Torque/force to acceleration ratio | double |
Example
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