MC_TorqueControl, MCP_TorqueControl –  Torque/force control

Block SymbolsLicensing group: MOTION CONTROL
PIC PIC

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.axisRefuAxis or yAxisuAxis 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/s2]

double

Deceleration

Maximal allowed deceleration [uunit/s2]

double

Jerk

Maximal allowed jerk [unit/s3]

double

Direction

Direction of movement (cyclic axis or special case only)

long

1 ....

Positive

2 ....

Shortest

3 ....

Negative

4 ....

Current

BufferMode

Buffering mode

long

1 ....

Aborting (start immediately)

2 ....

Buffered (start after finish of previous motion)

3 ....

Blending low (start after finishing the previous motion, previous motion finishes with the lowest velocity of both commands)

4 ....

Blending high (start after finishing the previous motion, previous motion finishes with the lowest velocity of both commands)

5 ....

Blending previous (start after finishing the previous motion, previous motion finishes with its final velocity)

6 ....

Blending next (start after finishing the previous motion, previous motion finishes with the starting velocity of the next block)

Outputs

yAxis

Axis reference (only RM_Axis.axisRefuAxis or yAxisuAxis 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

i ....

REX general error

Parameter

kma

Torque/force to acceleration ratio

double

Example

PIC

PIC