TRQ - Torque sensor

The torque sensor (TRQ) block reads the voltage output of a torque sensor and converts it to torque. It targets drive applications.

The B-Box RCP supports a single torque sensor through the Motor Interface for B-Box RCP. The sensor’s output must be a voltage proportional to the applied torque. The TRQ block will then read the input voltage and convert it to torque, using the specified sensitivity and offset of the sensor.

Simulink block

Signal specification

• The output signal is the measured torque in [Nm].
• The sim input signal is used in simulation and represents the actual torque, computed by the simulation plant model.
• The > input signal needs to be connected to the sampling clock generated by the CONFIG block to account for the exact sampling instant in simulation.

Parameters

• Device ID selects which B-Box/B-Board to address when used in a multi-device configuration.
• Sensor sensitivity [V/Nm] defines the sensitivity of the sensor.
• Sensor offset [V] defines the voltage offset of the sensor.

PLECS block

Signal specification

• The output signal is the measured torque in [Nm].
• The sim input signal is used in simulation and represents the actual torque, computed by the simulation plant model.
• The > input signal needs to be connected to the sampling clock generated by the CONFIG block to account for the exact sampling instant in simulation.

Parameters

• Device ID selects which B-Box/B-Board to address when used in a multi-device configuration.
• Sensor sensitivity [V/Nm] defines the sensitivity of the sensor.
• Sensor offset [V] defines the voltage offset of the sensor.

C++ functions

void MotInt_EnableMotorInterface(unsigned int device=0);Code language: C++ (cpp)

void Trq_AdjustSensorParams(float sensitivity, float offset, unsigned int device=0);Code language: C++ (cpp)

float Trq_GetTorque(unsigned int device=0);Code language: C++ (cpp)