MLAxisRatedTq

Pipe Network motion icon

 Function - Allows conversion of drive torque values from rated torque units
(1000 = rated motor continuous torque) to N.m (Newton meter).

Inputs

Input

Data Type

Range

Unit

Default

Description

ID

DINT

No range

N/A

No default

Pipe network identifier of the axis block.

Torque

LREAL

No range

N.m (Newton meter)

No default

Actual torque applied by the drive associated to the axis.

Rated torque = Nominal Drive Current * Torque factor = DRV.ICONT * MOTOR.KT.

DRV.ICONT is obtained by SDO parameter: index 5083h (sub-index 0).

MOTOR.KT is obtained by SDO parameter: index 3593h (sub-index 0).

See:

  • Communication SDOs.
  • Manufacturer specific SDOs.
  • Profile specific SDOs.

To read/write an SDO object with an index greater than 16#7FFF (32767), the value must be entered in this form:
any_to_int(index # in hex format).

Example: any_to_int(16#8321).

  • The actual units of DRV.ICONT and MOTOR.KT are 1/1000 of the actual values if obtained by SDO.
  • The formula, if using the SDO values, is:
    • Rated Torque = Torque = (SDO(DRV.ICONT)/1000) * (SDO(MOTOR.KT)/1000).

Outputs

Output

Data Type

Range

Unit

Description

Default (.Q)

BOOL

FALSE, TRUE

N/A

Returns TRUE when the function successfully executes.

See Function - General Rules.

Remarks

Figure 1: MLAxisRatedTq

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

            MLAxisRatedTq(PipeNetwork.Axis1, Axis1_Torque )  ;

See Also

MLAxisReadTq