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CNC_LOADTORQ | MOTOR

Description

Reads abnormal load torque data (estimated load torque) of servo motors or spindle motors. Data is stored in ODBLOAD structure in signed binary form.
motor specifies the type of a target motor for reading.
Reads the abnormal load torque data for all axes once by specifying 'ALL_AXES' in 'axis'.
The abnormal load torque data for each axis is stored in data array of "ODBLOAD" structure.

(1) For servo motors
In torq.data, a digitized value of a load current ("0" to "+/-7282") is stored in binary form. From this value, the load current value can be obtained by using the following formula:
Load current = torq.data × N / 7282 [Apeak]
where, N denotes the following:
Value of parameter No. 2165 N value
Smaller than 20 Value of parameter No. 2165
20 or greater Value of parameter No. 2165/10 * 10
(The figure of the unit's place is omitted.)
(2) For spindle motors
A value from "-32767" to "+32767" is stored. From this value, the percentage to the maximum torque can be obtained by using the following formula:
Percentage to the maximum torque = buf.data/32767×100 [%]
MTConnect Fanuc Adapter

Universal Fanuc Driver

Fanuc Focas Library CD

Declaration

#include "fwlib32.h" or "fwlib64.h"

 

FWLIBAPI short WINAPI cnc_loadtorq( unsigned short FlibHndl, short motor, short axis, short longth, ODBLOAD *torq );

Arguments

FlibHndl   [ in ]

Specify the library handle.
See "Library handle" for details.

motor   [ in ]

Motor type.

0 : Servo motor
1 : Spindle motor
axis   [ in ]

Axis number.

ALL_AXES : Specifies all axes (ALL_AXES).
1-m : Specifies one axis (m: current number of controlled axes).
length   [ in ]

Data block length.
(= 4 + 2×(number of axes to be read))

torq   [ out ]

Buffer in which abnormal load torque data is stored. The ODBLOAD structure is as follows.

typedef struct odbload {
    short   datano ;        /* Motor type. */
    short   type ;          /* Axis number. */
    short   data[N] ;       /* Abnormal load torque data. */
} ODBLOAD ;                 /* N is the maximum number of controlled axes. */

Return

EW_OK is returned on successful completion, otherwise any value except EW_OK is returned.

The major error codes are as follows.

Return code Meaning/Error handling
EW_LENGTH
(2)
The specified data block length is invalid.
The ODBLOAD size(length) is invalid.
EW_ATTRIB
(4)
The specified axis number is invalid.
The axis number(axis) is invalid.
EW_NOOPT
(6)
No option.
The unexpected disturbance torque detection function and the extended driver/library function are necessary.

 

As for the other return codes or the details, see "Return status of Data window function"

CNC option

 

This function need the following CNC option.

Unexpected disturbance torque detection function.

For HSSB connection,

The extended driver/library function is necessary.

For Ethernet connection,

The Ethernet function and the extended driver/library function are necessary.

However, in case of Series 16i/18i/21i-B, 0i-B/C/D/F, Series 30i and PMi-A, the required CNC option is as follows.

When Embedded Ethernet is used,

    above two optional functions are not required.

When Ethernet board is used,

    only Ethernet function is required.

 

CNC parameter

This function is related to the following CNC parameter.
See the manual of CNC parameter for details.

    • Series 30i
    • No.2165

 

CNC mode

This function can be used in any CNC mode.

Available CNC

  0i-A 0i-B/C(Note) 0i-D 0i-F 15 15i 16 18 21 16i-A 18i-A 21i-A 16i-B 18i-B 21i-B 30i-A 30i-B
M (Machining) X X X X X X X X X X X X X X X O O
T (Turning) X X X X X - X X X X X X X X X O O
LC (Loader) - - - - - - X X X X X X X X X - -

 

  0i-D 0i-F 16i 18i 30i-A 30i-B
P (Punch press) X X X X - X
L (Laser) - - X - - X
W (Wire) - - X X X X

 


Power Mate i-D X
Power Mate i-H X
Power Motion i-A O

 

  "O" : Both Ethernet and HSSB
  "E" : Ethernet
  "H" : HSSB
  "X" : Cannot be used
  "-" : None

Note) 0i-C does not support the HSSB function.

 

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https://www.inventcom.net/fanuc-focas-library/motor/cnc_loadtorq
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