MLAxisReadTq

Description

Return the actual torqueTorque is the tendency of a force to rotate an object about an axis. Just as a force is a push or a pull, a torque can be thought of as a twist applied by the drive which is mapped to the specified axis.

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• This function or function block returns cached data. See Programming a Dual Core Controller for more information.

Arguments

Input

ID	Description	Pipe network identifier of the axis block
	Data type	DINT
	Range	—
	Unit	N/A
	Default	—

Output

TorqueTorque is the tendency of a force to rotate an object about an axis. Just as a force is a push or a pull, a torque can be thought of as a twist	Description	Actual torque applied by the drive associated to the axis in N.m (Newton meter). If you have not previously invoked the MLAxisRatedTq function, the Output value is rated motor continuous torque (where 1000.0 = rated torque)
	Data type	LREAL
	Unit	N.m (Newton meter)

Related Functions

MLAxisRatedTq

MLAxisReadActPos

MLAxisReadVel

Example

Structured Text

Axis1_Torque := MLAxisReadTq(PipeNetwork.Axis1 )  ;

Ladder Diagram

Function Block Diagram

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