Inquiry About Using MoveAbsolute Together with Torque Limit

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1

Hello,

I have a question regarding axis functionality.

Is it possible to use the MoveAbsolute function together with the Torque Limit function at the same time?

If simultaneous use is possible, could you please explain how to configure and apply both functions correctly?

Thank you for your support.

Best regards,

2

Hello @Black_Cho,

thanks for contributing to B&R Community!

Belonging your questions, I can inform you that is possible to use the torque limitation during any movement - so also with MoveAbsolute.

For the torque limitation you can you use the function block MC_LimitLoad, where you can limit the torque depending on the direction (positive, negative or both movement directions) or also MC_BR_LimitLoad, which offers the possibility to limit the torque in all four quadrants seperately (acceleration and deceleration).

Both function blocks can be called independently of the PLCopen status - so also during in movement would be possible.

If you want to limit the torque at the beginning of the movement you just have to call MC_LimitLoad, wait until “Active” output is TRUE and then call MC_MoveAbsolute.

Please take care that a too high torque limitation could lead to a lag error, especially if the lag error is very low and the torque limitation is too high.

br Christoph

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