EtherCAT Torque Control using XPM_TRQ

The XPM_TRQ function block is used to control an axis in torque control mode.

  • The allowable range of torque value is limited to the maximum torque setting.

  • When torque value is positive, the positioning will go in forward direction.

  • When torque value is negative, the positioning will go in negative direction.

  • Torque Control can not be executed in these cases:

    • Axis is not in standstill or not already in torque control state.

    • Axis servo drive is in servo-off state.

    • Axis servo drive doesn’t support torque control mode.

XPM_TRQ Details

Element Name Element Type Description
REQ Input Edge detected request to execute the function block.
BASE Input Base number of the motion controller. Set 0 to the Base number.
SLOT Input Slot number of the motion controller. Set to the slot number of the XBF-PN04B or XBF-PN08B module.
Axis Input Axis number to control. XBF-PN04B: 1-4, XBF-PN08B: 1-8.
TRQ_VAL Input Torque value in % where 1 = 1% of rated torque. So 100 equals 100% of rated torque.
TIME Input Torque gradient in ms. Value between 0 and 65535 ms. Set time to take in reaching the target torque value.
DONE Output Status that function block is done.
STAT Output Current status of the function block. Non-zero numbers will be an error or warning.

 

The following examples can be found in OnlineHelp_ECAT_Example.

  • XPM_ECON needs to be executed first so EtherCAT servo drives are connected to receive commands.

XPM_TRQ Example Results

 

 

 

 

 

 

 

LP216