_NCF040_TorqueControl_REAL(

1/4)

FBInstanceArea

StartAddress

EndAddress

Size

NoRetain

H512

H1407

896

Retain

H1408

H1535

128

Timers

T3072

T4095

1024

Counters

C3072

C4095

1024

Specifyunu

sedarea.

Therequire

dsizevariesd

FBInstancrea

StartAddress

EndAddress

Si

NoRetain

D32020

D32767

748

Retain

H1408

H1535

128

Timers

T3072

T4095

1024

Counters

C3072

C4095

1024

NCF

040

TorqueControl(REAL)_NCF040_TorqueControl_REAL

Basicfunction

Controlsthetorque.

Symbol

AlwaysON(P_On) _NCF040_TorqueControl_REAL(BOOL) (BOOL)

EN ENO

UnitNo. (INT) (BOOL) TorquecommandcompletedflagUnitNo Done

AxisNo. (INT) (BOOL) AbortAxis CommandAborted

Start (BOOL) (BOOL) ErrorflagExecute Error

Torquecommandvalue (REAL) (WORD) Errorcode

Torque ErrorID

Speedlimit (REAL)

Velocity

Filename

Lib\FBL\omronlib\PositionController\NCF\NCF040TorqueControlREAL11.cxf

Applicablemodels

PositionControlUnit

CJ1W-NCF71,CS1W-NCF71

CPUUnit

CS1*-CPU**HUnitVersion3.0orlaterCJ1*-CPU**HUnitVersion3.0orlaterCJ1M-CPU**UnitVersion3.0orlaterCP1H

CX-Programmer

Version5.0orlater

Languagesinfunctionblock

definitions

Ladderprogramming

Conditionsforusage

ThefollowingconditionsforusageshouldbethePositionControlUnitversion1.2orearlier.(ItwillnotberequiredinthePositionControlUnitversion1.3orlater)

CX-ProgrammerSetting

ThefunctionblocksrelatedtothePositionControlUnitswillnotoperateiftheareaH512orhigher(defaultsetting)isspecifiedastheNonRetainAreathroughtheFunctionblockmemoryallocation.Makesuretochangethememoryareatounusedarea(DMorEM,forexample)fromtheCX-Programmer.Tochangethisvalue,clickPLC/FunctionBlockMemory/FunctionBlockMemoryAllocationfromtheBar.

FunctionBlockMemoryAllocation[NewPLC1]

OK

CancelEditDefault

ependingontheusedFBandthenumberofFBs.Ifanareabeingusedintheladderprogramisspecifiedorsufficientspacecannotbefound,theCX-Programmerwilldisyacompileerror.

FunctionBlocMemoryAllocation[NewPLC1]

OK

CancelEdit

Default Forexample,tousethememoryareafromD32020toD32767

Advanced (748words),specifythe

addressesasshownintheleft.

Functiondescription

WhentheStart(Execute)turnsON,theTorqueControlfortheaxisofthespecifiedUnitNo.(UnitNo)andAxisNo.(Axis)isstartedusingthespecifiedTorquecommandvalue(Torque).TheSpeedlimit(Velocity)canbeusedtospecifytheumspeedduringtorquecontrol.

ChangingthevalueofTorquecommandvalue(Torque)duringthetorquecontrolbythisFBwillchangetheactualoperationspeed.

ThevalueofTorquecommandvalue(Torque)canbereflectedwhiletheStart(Execute)isturnedONevenaftertheTorquecommandhasbeencompleted.

TheTorquecommandcompletedflag(Done)isturnedONwhentheTorquecommandvalue(Torque)inthisFBhasbeenacceptednormallybytheServoDrive.

TheErrorflag(Error)willbeturnedONandtheErrorcode(ErrorID)willbeoutputifanerroroccursfortheFB.ThiswillnotoccurforerrorinotherFBsorotherinstancesoftheFB.

Thesestatuses( mandAborted/Error/ErrorID)willberesetwhentheStart(Execute)turnsOFF.IftheStart(Execute)turnsOFFbeforetheoperationhasbeencompleted,thestatuswillbesetforatleastonecyclewhensupportingconditionshaveoccurred.

ENONOFF

ENOONOFF

ExecuteON

OFF

Torque

DoneONOFF

ErrorONOFF

KindofFBdefinition

Alway ecutiontype.

ConnecttheENinputtotheAlwaysONFlag(P_On).

Thesameinstancecannotbeusedintwoormoreces.

FB

precautions

?TurningONtheStart(Execute)againaftertheTorquecommandhasbeencompletedwillcauseamultiplestartandthetorquecontrolwillbeperformedforthetorquesetinTorquecommandvalue(Torque)then.

RefertotheRelatedManualsfordetails.

ENinput

condition

?ConnecttheENinputtotheAlwaysONFlag(P_On).

IfanotherbitisconnectedtoEN,theFBoutputswillbeheldwhentheconnectedbitturnsOFF.

RestrictionsOther

?ChangingtheTorquecommandvalue(Torque)whiletheStart(Execute)isONaftertheTorquecommandhasbeemcompletedwillchangetheactualoperationspeed.However,thespeedwillnotbechangediftheTorquecommandvalue(Torque)islessthan-2.147483e+006orexceeds+2.147483e+006.

Ex.1)WhenchangingtheTorquecommandvalue+100.000(+100%)to+2.147483e+006duringtheoperation:TheTorquecommandvalueforthePositionControlUnitischangedto

+2.147483e+006( %).SomePositionControlUnitsmaycauseanerror.

Ex.2)WhenchangingtheTorquecommandvalue+100.000(+100%)to+2.147484e+006duringtheoperation:TheTorquecommandvalueforthePositionControlUnitremains+100.0(+100%)withoutanychange.

?TheTorquecommandvalue(Torque)canbereflectedwhiletheStart(Execute)isturnedONevenaftertheTorquecommandhasbeencompeted.Atthattime,ifmorethanoneinstancei ecuted,theywillbeoperatedwiththecommandvalueofinstancelocatedinthebottom.

?ThefollowingcannotbespecifiedforthisFB:“Forwardrotationcurrentlimitdesignation”and“Reverserotationcurrentlimitdesignation”.Ifanyofthesefunctionsisrequired,specifytheminadvanceoutsidetheFB.

?ThisFBusesUnitErrorReset,WriteData,ReadDataandSaveDataBitsofthePositionControlUnit(seeNote).Therefore,donotturnthesebitsONorOFFbetweentheperiodfromtherisingedgeofENtotherisingedgeofENO.Forthesamereason,donotusethesebitsforcoiloutputs(OUTcommands).

?TheoutputvariableofFBmaynotchangeevenifENisturnedON.Inthatcase,checkifanyofUnitErrorReset,WriteData,ReadDataandSaveDataBitisleftON.

?ThisFBusestheTorqueControlBitintheAxisOperatingOutputMemoryAreas.Therefore,donotturnthesebitsONorOFFuntiltheoperationiscompleted.Forthesamereason,donotusethesebitsforcoiloutputs(OUTcommands).

Note:

Forcalculationofbitaddresses,thesebitsarereferencedinthisFBinthefirstexecutionofeachinstance,andwhenchanging"UnitNo.(UnitNo)","AxisNo.(Axis)"oftheinputvariableandset"Start(Execute)".

Applicationexample

TurningtheStartTriggerONfromOFFwilloperatetheServomotor(axis1)connectedtothePositionControlUnitwithaunitnumber0usingtheTorqueControlcommand.

UnitNo.:0

CPU NCF

Servomotor

Axis1

StartTrigger BitB BitC BitD BitABitA

Sample

AlwaysON(P_On) _NCF040_TorqueControl_REAL(BOOL) (BOOL)

EN ENO

UnitNo. (INT) (BOOL) Torquecommandcompletedflag

&0 UnitNo Done BitB

AxisNo. (INT) (BOOL) Abort

&1 Axis CommandAborted BitC

Start (BOOL) (BOOL) Errorflag

BitA Execute Error BitD

Torquecommandvalue (REAL) (WORD) Errorcode

+50.000 Torque ErrorID D0

Speedlimit (REAL)

+20.000 Velocity

Relatedmanuals

PositionControlUnitsOPERATIONMANUAL(W426-E1)10-6TorqueControl

12-4ErrorCodes

VariableTablesInputVariables

Name

Variablename

Datatype

Default

Range

Description

EN

EN

BOOL

1(ON):FBstarted

0(OFF):FBnotstarted.

UnitNo.

UnitNo

INT

&0

&0to&15

Specifytheunitnumber.

AxisNo.

Axis

INT

&1

&1to&16

Specifytheaxisnumber.

Start

Execute

BOOL

0(OFF)

:Startsthespeedcontrol.

Torquecommandvalue

Torque

REAL

+0.0

-199.999to

+199.999

Specifythetargettorque.

Theunitis%ofthemomentarymaxtorqueofthemotorbeingused.

ChangingthevaluewhilethisFBisinoperationwillchangetheactualtorquecommandvalue.

Speedlimit

Velocity

REAL

+0.0

+0.0to

+100.000

Specifythespeedlimit.

Theunitis%oftheumspeedofthemotorbeingused.

ThisvaluecanbeusedasSpeedlimitvalueduringtorquecontrolwiththesettingofServoParameter.W-Series:Pn002.1SpeedCommandInput

ChangeinParameterFunctionSelectionApplicationSwitch2

G-Series:Pn05BSpeedlimitselectionRefertothemanualwrittenontheRelatedManualsforthedetails.

OutputVariables

Name

Variablename

Datatype

Range

Description

ENO

ENO

BOOL

1(ON):FBoperatingnormally

0(OFF):FBnotoperatingnormally

?FBnotstarted

?Inputvariableoutoftherange

?FBendedwitherror

?CommonParameterscouldnotberead

Torquecommandcompletedflag

Done

BOOL

TurnsONwhenthetorquecommandhasbeenaccepted.

Abort

CommandAborted

BOOL

1(ON):Aborted

Itwillbeabortedwhenanyofthefollowingconditionsismetduringoperation

?TurnsONwhentheotherMovecommanddone(DuplicateMove).

?StoppedwithDeclerationStoporEmergencyStop.

?ExecutedServoUnlock,DeviationCounterResetonanoperatingaxis.

?AttemptedtoexecuteFBwhileServoUnlock,DecelerationStop,EmergencyStoporDeviationCounterResetBitisON.

?DetectedtheStopExecutionFlagisON.

?TheTorqueControlBitischangedbytheotherFBduringTorqueControlinoperation.

Errorflag

Error

BOOL

TurnsONwhenanerrorhasoccurredintheFB.

Errorcode

ErrorID

WORD

ReturnstheerrorcodewhenanerrorhasoccurredintheFB.RefertotheRelatedManualsfordetailsonerrors.

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