MC_TORQUECONTROL

Function Description

The MC_TORQUECONTROL function is used to set the drive in TORQUECONTROL mode if it is not already the case, and provide a torque command value. This function block continuously applies a torque or force, and sets the InTorque output if the torque level is reached. This function block is applicable for force and torque. When no external load is applicable, positive torque is in the positive direction of velocity.

Representation in FBD

Representation

Representation in LD

Representation

Representation in IL

Representation:

LD Slave

CAL MC_TORQUECONTROL_Instance(AXIS:=AXIS, EXECUTE:=EXEC, TORQUE:=TORQ, ERROR=>ERR, INTORQUE=>INTORQ, BUSY=>B, COMMANDABORTED=>AB, ERRORID=>ERRID)

Representation in ST

Representation:

MC_TORQUECONTROL_Instance(AXIS:=AXIS, EXECUTE:=EXEC, TORQUE:=TORQ, ERROR=>ERR, INTORQUE=>INTORQ, BUSY=>B, COMMANDABORTED=>AB, ERRORID=>ERRID);

Description of the Input Parameters

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

Parameter	Type	Comment
TORQUE	INT	Torque value

The following table describes units for each drive.

Drive	Lexium 15MM/ HP	Lexium 15LP	Lexium 05 / Lexium 32	ATV 71
Unit	1/1000 rated torque	1/1000 rated torque	0.01 Amp	1/1000 nominal motor torque

Description of the Output Parameters

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

Parameter	Type	Comment
INTORQUE	BOOL	INTORQUE is TRUE when the axis reaches the TORQUE in TorqueControl mode. Otherwise it remains set to FALSE (not significant for Lexium05).

NOTE: The ATV71 allows two ways to manage the torque mode: torque or speed regulation. Switching between these two modes is possible either by LI or by frequency level. LI is a digital or virtual input composed of the three MSB of the ControlWord (Bit15 to 13). When activated, this MFB always sets the bit 15 to 1. Depending on the drive configuration, both ways of switching is then available.