MC_TorqueControl, MCP_TorqueControl

MC_TorqueControl, MCP_TorqueControl – Torque/force control

Block SymbolsLicensing group: MOTION CONTROL

Function Description

The MC_TorqueControl and MCP_TorqueControl blocks offer the same functionality, the only difference is that some of the inputs are available as parameters in the MCP_ version of the block.

The MCP_TorqueControl block generates constant slope torque/force ramp until maximum requested value has been reached. Similar profile is generated for velocity. The motion trajectory is limited by maximum velocity, acceleration / deceleration, and jerk, or by the value of the torque, depending on the mechanical circumstances.

Inputs

uAxis	Axis reference (only RM_Axis.axisRef–uAxis or yAxis–uAxis connections are allowed)	Reference
Execute	The block is activated on rising edge	Bool
Torque	Maximal allowed torque/force	Double (F64)
TorqueRamp	Maximal allowed torque/force ramp	Double (F64)
Velocity	Maximal allowed velocity [unit/s]	Double (F64)
Acceleration	Maximal allowed acceleration [unit/s $^{2}$ ]	Double (F64)
Deceleration	Maximal allowed deceleration [uunit/s $^{2}$ ]	Double (F64)
Jerk	Maximal allowed jerk [unit/s $^{3}$ ]	Double (F64)
Direction	Direction of movement (cyclic axis or special case only)	Long (I32)
	1 .... Positive 2 .... Shortest 3 .... Negative 4 .... Current
BufferMode	Buffering mode	Long (I32)
	1 .... Aborting (start immediately) 2 .... Buffered (start after finish of previous motion) 3 .... Blending low (start after finishing the previous motion, previous motion finishes with the lowest velocity of both commands) 4 .... Blending high (start after finishing the previous motion, previous motion finishes with the lowest velocity of both commands) 5 .... Blending previous (start after finishing the previous motion, previous motion finishes with its final velocity) 6 .... Blending next (start after finishing the previous motion, previous motion finishes with the starting velocity of the next block)

Outputs

yAxis	Axis reference (only RM_Axis.axisRef–uAxis or yAxis–uAxis connections are allowed)	Reference
InTorque	Requested torque/force is reached	Bool
CommandAborted	Algorithm was aborted	Bool
Busy	Algorithm not finished yet	Bool
Active	The block is controlling the axis	Bool
Error	Error occurred	Bool
ErrorID	Result of the last operation	Error
	i .... REXYGEN general error

Parameter

kma	Torque/force to acceleration ratio	Double (F64)

Example

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