Holding
• To hold an axis in place during motion and resume operation at a later time, set bit 0 (Hold
Command) in the OW09 setting parameter to 1 (Hold Command ON).
When bit 0 in OW09 is set to 1, the axis will decelerate to a stop.
The deceleration operation depends on the setting of bits 8 to F (Stop Mode Selection) in the
OW02 setting parameter.
When the axis completely decelerates to a stop, bit 1 (Command Hold Completed) in the
IW09 monitor parameter will change to 1 (Completed).
• To release the hold, set bit 0 (Hold Command) in OW09 to 0 (Hold Command OFF).
This clears the command hold status and the remaining portion of the positioning operation is
restarted.
Canceling
• Set bit 1 (Cancel Command) in the OW09 setting parameter to 1 (Cancel Command
ON).
When bit 1 in OW09 is set to 1, the axis will decelerate to a stop.
The deceleration operation depends on the setting of bits 8 to F (Stop Mode Selection) in the
OW02 setting parameter.
When the axis completely decelerates to a stop, the remaining motion will be canceled and
bit 1 (Positioning Completed) in the IW0C monitor parameter will change to 1 (Within
positioning completed range).
• Torque Control Mode resumes if bit 1 (Cancel Command) in the OW09 setting parame-
ter is set to 0 (Cancel Command OFF) during processing of the cancel operation.
• The same operation as the Cancel Command operation will be performed if the motion com-
mand code is changed during operation in Torque Control Mode.
The OL0C (Torque/Force Reference Setting or Torque Feedforward Compensation) is used
as the torque feedforward reference value when any of the following motion commands are exe-
cuted.
• INTERPOLATE
Important
• LATCH
• VELO
• PHASE
If any of the above motion commands are used in combination with other motion commands, set
the Torque/Force Reference Setting to 0 when the command cancel processing is completed so
that the Torque/Force Reference Setting will not cause any unintended effects.
Related Parameters
The parameters that are related to this command are listed in the following table.
Setting Parameters
Register
Name
Address
OW
00
Servo ON
Bit 0
OW
02
Stop Mode Selection
Bit 8 to F
OW
03
Function Settings 1
OW
08
Motion Commands
4.2.23 TRQ (Issue Torque/Force Reference)
Setting Details
Use this bit to turn the power to the Servomotor ON or OFF.
After the mode is changed to Torque Control Mode, set this bit to 1
to start operation.
0: Servo OFF, 1: Servo ON
Select the stop method to use when torque control is canceled.
0: Stop according to the Linear Deceleration Rate/Deceleration
Time Constant parameter
1: Stop immediately
Select the torque unit.
Set this parameter to 24 (TRQ) to change operation to Torque Con-
trol Mode.
4.2 Motion Command Details
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