Yaskawa MotionWorks IEC - Manual (Page 131)

PLCopenPlus Function Blocks for Motion Control 2013-04-13 123
MC_ReadActualTorque
This Function Block returns the value of the actual torque or force in
percentage of rated torque. Note that peak torque will vary from 200 to
over 300% based on the specific amplifier model.
Parameters
Parameter Data
type
Description
VAR_IN_OUT
B Axis AXIS_REF Logical axis reference. This value can be located on the Configuration
tab in the Hardware Configuration (logical axis number).
VAR_INPUT Default
B Enable BOOL The function will continue to execute while
enable is held high. FALSE
VAR_OUTPUT
B Valid BOOL Indicates that the outputs of the function are valid.
B Busy BOOL Set high upon the rising edge of the 'Execute' or 'Enable' input, and
reset if Done, CommandAborted, or Error is true.
B Error BOOL Set high if error has occurred during the execution of the function
block. This output is cleared when 'Execute' or 'Enable' goes low.