Technical data

Technology functions
CPU 317T: Technology Functions
6-98 A5E00251798-03
Input parameters
Parameter Data type Start value Description
Axis INT 0 Number of the technology DB
Execute BOOL FALSE Start of the command at the positive edge
EnableLimit BOOL TRUE Enable / disable limits
MaxTorque REAL 100.0 Max. torque acting at the motor. *
Define the torque in [N/m].
Value >= 0: Use the specified Value
Value < 0: Not permitted
* Always set the "Max. drive torque" parameter in your axis configuration (in the
Expert list: TypeOfAxis.SetPointDriverInfo.DriveData.maxTorque).
Output parameters
Parameter Data type Start value Description
Done BOOL FALSE TRUE: The command is completed
Busy BOOL FALSE TRUE: Command is busy
CommandAborted BOOL FALSE TRUE: The command was aborted by another
command or by an error during command
execution.
If ErrorStatus of the technology DB
does not indicate an error, the
command was canceled by a subsequent
command.
If ErrorStatus reports an error, an error at
the TO occurred during command
execution and has caused cancellation of
the command.
Error BOOL FALSE
TRUE: Command initiation
with error.
The command is not
executed; the cause is found in the
ErrorID.
FALSE: Command initiation
without error
ErrorID WORD 0
ErrorID of the Error output parameter.
Note
Following error monitoring is disabled when the technology function is being used.
Any accumulated following errors are eliminated based on the configured drive
limits when torque is increased or countering torque is reduced.Neither the
dynamic values defined at the input parameters, nor the limits set in the technology
object influence this operation.
You should make sure that the following error is eliminated before you stop the
axis with "MC_Stop" or "MC_Halt."Hence, you should preferably stop the axis
without position control, i.e. by using the technology function MC_MoveVelocity
with the settings PositionControl = FALSE and Velocity = 0.0.