Read commanded torque with MC_ReadCommandedTorque

MC_ReadCommandedTorque is used to read the commanded torque of an axis. It outputs a 32-bit and 64-bit torque value continuously while the Enable is true.

  • LS_Connect 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.

Element Name Element Type Description
Enable Input Level detected request to execute the function block.
Axis Input/Output Axis reference variable. This can not be a constant.
Valid Output Indicates the position outputs are valid.
Busy Output Indicates the function block is currently being executed.
Error Output Indicates whether an error occurs or not.
ErrorID Output Error Identification number.
Value32 Output 32-bit commanded torque value as a REAL.
Value64 Output 64-bit commanded torque value as a LREAL.

//Set Axis Reference

Axis1 := 1;

 

IF (_AX01_RDY) THEN

//Example MC_ReadCommandedTorque

INST_READCOMMANDEDTORQUE(Enable:=Enable_ReadCommandedTorque, Axis:=Axis1,

ErrorID=>INST_READCOMMANDEDTORQUE.ErrorID);

END_IF;

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

LM525