Torque Control using MC_TorqueControl

MC_TorqueControl is used to give torque control commands to the selected axis. The velocity input to the axis is not used and the axis will move at a high speed when executing torque control.

Torque Actual Value and Torque Demand Value must be added to the TxPDO for this function block to work. See Modifying TxPDO and RxPDO for Torque Values below.
Target Torque must be added to the RxPDO for this function block to work. See Modifying TxPDO and RxPDO for Torque Values below.
Axis will be in ContinuousMotion state while the function block is running.
LS_Connect and MC_Power must be executed before this function block can be used.
The examples in this topic can be found in the XMC_SingleAxis_FBs.zip downloadable from Example Applications.

MC_ TorqueControl Details

Element Name	Element Type	Description
Execute	Input	Edge detected request to execute the function block.
Axis	Input/Output	Axis reference variable. This can not be a constant.
ContinuousUpdate	Input	Specify the update setting of the input value. This is explained in section 6.1.5 of the XMC user manual.
Torque	Input	Specify the target torque. 100.0 equals 100% torque.
TorqueRamp	Input	Specify the slope of the torque.
Velocity	Input	Not used in MC_TorqueControl.
Acceleration	Input	Not used in MC_TorqueControl.
Deceleration	Input	Not used in MC_TorqueControl.
Jerk	Input	Not used in MC_TorqueControl.
Direction	Input	Specify the direction.1 – Forward Direction; 2 – Reverse Direction
BufferMode	Input	Specify the sequential operation setting. See Buffer Mode table below.
InTorque	Output	Indicates the inputted torque value and current operating torque value are equal.
Busy	Output	Indicates the function block is currently being executed.
Active	Output	Indicates the function block is controlling the axis.
CommandAborted	Output	Indicates the function block was aborted.
Error	Output	Indicates whether an error occurs or not.
ErrorID	Output	Error Identification number

BufferMode Table

Sections 6.1.4 and 8.2.10 of the XMC user manual provide more information about buffer modes.

Value	Buffer Mode	Description
0	Aborting	Abort previous command and execute the command immediately.
1	Buffered	Execute the command after previous command is completed.
2	BlendingLow	The new command is blended into a previously executed command using the lower velocity value when comparing the previous command and new command.
3	BlendingPrevious	The new command is blended into a previous command using the velocity of the previous command.
4	BlendingNext	The new command is blended into a previous command using the velocity from the new command.
5	BlendingHigh	The new command is blended into a previous command using the higher velocity value when comparing the previous command and new command.

Modifying TxPDO and RxPDO for Torque Values

Step	Action
1	Double-click on the slave to add torque values to. This example shows Slave 1 – iX7NH servo drive.
2	Select PDO Setting in the 1.Slave window that opens up.
3	Choose PDO Type filter TxPDO.
4	In the PDOs to Map section, find Torque Demand Value and Torque Actual Value. Highlight them and press the down arrow to add them to the Mapped Objects. They must be done one at a time. After adding to Mapped Objects:
5	Choose PDO Type filter RxPDO.
6	In the PDOs to Map section, find Target Torque. Highlight them and press the down arrow to add them to the Mapped Objects. They must be done one at a time. After adding to Mapped Objects:

LM515