L_MC1P_SetTorqueOffset

This FB serves to cyclically define an additional feedforward control torque.

The feedforward control torque can either be added to the torque value that is automatically detected from the acceleration and the parameterised moment of inertia or exclusively replace it.

Note!

Independent of the use of this FB, a torque feedforward control takes place automatically within the Axis_Ref. The torque effectively transmitted to the drive is provided at the lrSetTorqueToDrive output of the AXIS_REF.

Torque feedforward control

 

 

 

L_MC1P_SetTorqueOffset

 

 

 

AXIS_REF

-

Axis

xBusy

-

BOOL

BOOL

-

xEnable

xError

-

BOOL

LREAL

-

lrTorque

eErrorID

-

L_IE1P_Error

L_MC1P_PrecontrolMode

-

ePrecontrolMode

 

 

 

 

 

 

 

 
Inputs

Name

Data type

Information/possible settings

Axis

AXIS_REF

Transfer of the axis data structure

Motion axes (AXIS_REF)

xEnable

BOOL

TRUE

Start execution of the function block.

lrTorque

LREAL

Gearbox output side feedforward control torque in [Nm]

ePrecontrolMode

L_MC1P_PrecontrolMode

Mode for calculating feedforward control:

  • Additive: Feedforward control torque lrTorque + torque value resulting from the acceleration and the parameterised moment of inertia.
  • Exclusive: Only feedforward control torque lrTorque
Outputs

Name

Data type

Value/meaning

xBusy

BOOL

TRUE

Processing is running.

xError

BOOL

TRUE

An error has occurred. For details see eErrorID .

eErrorID

L_IE1P_Error

If xError = TRUE: Error number for the error that has occurred.