3ADT629039P0001 ABB control board robot accessories

Description

3ADT629039P0001 This function block is used to set the reference torque (current) of the shaft. In this mode of operation, the drive does not use a position loop (so no subsequent errors are recorded or
Take any action). The shaft is always in torque control mode (controlled by the Controlmode status word
Bit indication in) remains unchanged. 3ADT629039P0001 refers to the conversion from zero torque operation (torque control mode) to holding position (position control mode), which can send (for example) the relative movement distance
GDI set to zero (in user units)_ MoveRelative。

GDI_ Follow
This function block is used to command the axis to follow the set master encoder reference value according to the set follow-up ratio.
GDI_ DataInterface
This function block is used to transfer command/status data between PLC and ABB motion drive. There must be an instance of the relevant function block for each axis in the application.
Type Description
VAR_ IN_ OUT
Axis TGDIAxisRef refers to the structure of the shaft
VAR_ INPUT
When the rising edge occurs, the Execute BOOL starts to use the reference torque. As long as the input value is “true”, the rotation will be maintained
Moment. After the Execute input becomes “false”, the torque gradually decreases to zero according to the set FallTime.
Refer to Mint help text for the reference torque (% – of DRIVERATEDCURRENT) to be used by Torque REAL axis
Pieces). It can be modified when Execute is “true” to change the generated torque
RiseTime REAL sets the time it takes for the current to rise from zero to DRIVETEAKCURRENT (see Mint help
Document)
FallTime REAL sets the time it takes for the current to drop from DRIVETEAKCURRENT to zero (see Mint help
Document)
VAR_ OUTPUT
Done BOOL becomes “true” immediately after the reference torque is sent (regardless of whether the command is successfully executed). Done loses
Out is always true until Execute becomes false
Busy BOOL is “true” during the execution of this function block (that is, when Execute is “true”)
Error BOOL The value is “true” when the axis is wrong
ErrorID DINT indicates the Mint error code reported by the axis
Type Description
VAR_ IN_ OUT
Axis TGDIAxisRe
f
Structure of finger shaft
VAR_ INPUT
When the rising edge of the Execute BOOL occurs, 3ADT629039P0001 starts to follow the Execute input. Before the Execute input becomes “false”, the axis will always follow
Dynamic mode (to stop follow-up, send another motion command or via ABB_GDI_CLEAR
Clear Motion)
Follow up ratio (gear ratio) between the Ratio REAL axis and the reference speed of the main encoder (this parameter value is determined by the axis and the chief editor
The influence of encoder conversion – see the “Follow up” section in the Mint help file). In the process of follow-up
To set a new servo ratio, a new ABB needs to be sent_ GDI_ FOLLOW command.
VAR_ OUTPUT
Done BOOL will become “true” immediately after the follow-up command is sent (regardless of whether the command is successfully executed). Done output
Always true until Execute becomes false
Busy BOOL is “true” during the execution of this function block (that is, when Execute is “true”)
Error BOOL The value is “true” when the axis is wrong
ErrorID DINT indicates the Mint error code reported by the axis

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