EtherCAT Speed Limited Torque Control using XPM_TRQSL

The XPM_TRQSL function block is used to control an axis in torque control mode while limiting the axis speed.

  • 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.

  • The examples in this section can be found in OnlineHelp_ECAT_Example.

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

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 to read error information from.
TRQ_VAL Input Torque value in % where 1 = 0.1% of rated torque. So 100 equals 10% of rated torque.
TIME Input Torque gradient in ms. Value between 0 ~ 65535 ms. Set time to take in reaching the target torque value.
SPD_LIMIT Input Speed Limit Value in RPM. Value between 0 ~ 6000.
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.

 

XPM_TRQSL Example Results

 

 

 

 

 

 

LP620