FunctionMLAxisReadTqPipe Network motion icon

Description

Return the actual torqueClosedTorque 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.

Arguments

Input

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

Output

TorqueClosedTorque 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

MLAxisReadTq: LD example

Function Block Diagram

MLAxisReadTq: FBD example

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