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 Axis_RED.DefaultAdditiveTorque                := rAdditiveTorque  

Axis_RED.DefaultTorqueLimitNegative       := rTorqueLimitNegative  

Axis_RED.DefaultTorqueLimitPositive         := rTorqueLimitPositive  

 

_enableAxisAdditiveTorque, _disableAxisAdditiveTorque,  

_enableAxisTorqueLimitPositive, _disableAxisTorqueLimitPositive,  

_enableAxisTorqueLimitNegative, _disableAxisTorqueLimitNegative 

ST

(1)  _enableaxisadditivetorque 

If Axis_RED.AdditiveTorqueIn.State = INACTIVE and 

Boenableaxisadditivetorque then  

my_Ret_DINT := _enableaxisadditivetorque( 

                 axis:=Axis_RED,  

   valuereferencetype:=VALUE,  

   additivetorquetype:=DEFAULT_VALUE,  

          nextcommand:=IMMEDIATELY); 

end_if; 

                 

(2) _enableAxisTorqueLimitPositive 

my_Ret_DINT := _enableaxistorquelimitpositive( 

                  axis:=Axis_RED,  

valuereferencetype:=VALUE,  

   torquelimittype:=DEFAULT_VALUE,  

       nextcommand:=IMMEDIATELY); 

 

(3) _enableAxisTorqueLimitNegative 

      IF (boTorqueLimitNegative AND 

         Axis_RED.TorqueLimitNegativeIn.State = INACTIVE AND 

         boErrorTorque = FALSE) THEN 

            my_Ret_DINT := _enableaxistorquelimitnegative( 

                             axis:=Axis_RED,  

               valuereferencetype:=VALUE,  

                  torquelimittype:=DEFAULT_VALUE,   

                      nextcommand:=IMMEDIATELY); 

       end_if; 

(4) _disableaxisadditivetorque 

 

 

8 

 

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IF Axis_RED.AdditiveTorqueIn.State = ACTIVE AND bodisableadditivetorque 

then  

my_Ret_DINT := _disableaxisadditivetorque( 

                      axis:=Axis_RED,   

               nextcommand:=IMMEDIATELY); 

End_IF; 

 

(5)  _disableAxisTorqueLimitPositive 

IF Axis_RED.TorqueLimitPositiveIn.State = ACTIVE AND … then  

my_Ret_DINT := _disableaxistorquelimitpositive( 

                     axis:=Axis_RED,  

              nextcommand:=IMMEDIATELY); 

 

(6) _disableAxisTorqueLimitNegtive 

IF Axis_RED.TorqueLimitNegtiveIn.State = ACTIVE AND … then  

my_Ret_DINT := _disableaxistorquelimitnegtive( 

                     axis:=Axis_RED,  

              nextcommand:=IMMEDIATELY);