MC_READACTUALTORQUE

Function Description

The MC_READACTUALTORQUE function is used to return the current torque.

Representation in FBD

Representation

Representation in LD

Representation

Representation in IL

Representation:

LD Slave

CAL MC_READACTUALTORQUE_Instance(AXIS:=AXIS, ENABLE:=ENB, ERROR=>ERR, VALID=>DO, BUSY=>B, ERRORID=>ERRID, TORQUE=>TORQ

Representation in ST

Representation:

MC_READACTUALTORQUE_Instance(AXIS:=AXIS, ENABLE:=ENB, ERROR=>ERR, VALID=>DO, BUSY=>B, ERRORID=>ERRID, TORQUE=>TORQ;

Description of the Output Parameters

The following table describes the output parameters that are in addition to the basic parameters:

Parameter	Type	Comment
TORQUE	INT	Updated every 200ms.

The following table describes the units for each drive

Drive	15MP/HP	15LP	Lex05 / Lex32	Icla	ATV31	ATV71
Unit	1/1000 rated torque	1/100 Amp	0.01 Nominal Motor Torque	-	0.01 Nominal Torque	0.01 Nominal Torque

NOTE: The returned value for the Lexium05 and Lexium32 is a current.