Torque Control Command (Trqctrl: 3Dh) - YASKAWA S-7 Series Command Manual

3.2.16

Torque Control Command (TRQCTRL: 3Dh)

Data Format
Phases in which the
Command can be Executed
Processing Time
Byte
Command
0
1
2
CMD_CTRL
3
4
5
SVCMD_CTRL
6
7
8
9
SVCMD_IO
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
2, 3
Within
communication
cycle
TRQCTRL
Response
3Dh 3Dh
WDT RWDT
CMD_STAT
SVCMD_STAT
SVCMD_IO
CPRM_SEL_
VLIM
MON1
CPRM_SEL_
TQREF
MON2
MONITOR1
Reserved MONITOR2
MONITOR3

3.2.16 Torque Control Command (TRQCTRL: 3Dh)

Command
Servo standard
Classification command
Subcommand
Description
• The TRQCTRL command sends the torque reference to a
slave station to performs torque control. The slave station
performs torque control directly without speed control
and position control.
• Confirm the completion of the command execution by
checking that RCMD = TRQCTRL (= 3Dh) and
CMD_STAT.CMDRDY = 1.
• CPRM_SEL_MON1/CPRM_SEL_MON2:
Monitor data can be selected by changing the common
parameter setting. Refer to the following chapter for
details.
Chapter 8 Common Parameters.
<Notes on using the command>
• TQREF (torque reference):
Set the torque reference with a signed value.
• VLIM (Velocity limit):
Set the speed limit with an unsigned value.
• Refer to the following section for the above reference
data.
3.2.19 Motion Command Data Setting Method on page
3-52.
• Refer to the following section for the reference value units
in the command area.
2.7.2 Specifying Units on page 2-27.
• If the command is sent in the servo OFF state (SVON =
0), the command becomes effective next time the servo
ON state (SVON = 1) is established.
In the following cases, an alarm will occur and the relevant
value will be clamped at the limit value.
• When the TQREF data is invalid: CMD_ALM = 1h (A.97B)
• When the VLIM data is invalid: CMD_ALM = 1h (A.97B)
3.2 Servo Commands
Asynchronous
command
Can be used
3-49
3