3.2.19 Motion Command Data Setting Method - YASKAWA S-7 Series Command Manual

3.2 Servo Commands

3.2.19 Motion Command Data Setting Method

3.2.19 Motion Command Data Setting Method

This subsection provides information on the settings of the following data fields of the motion
commands: TSPD, VREF, VFF, TREF, TFF, TLIM, VLIM, ACCR and DECR.
Name Description
Target
TSPD
speed
Velocity
reference,
VREF
Velocity
VFF
feedforward
value
Torque
reference,
TQREF
Torque
TFF
feedforward
value
TLIM Torque limit
VLIM Speed limit
3-52
Setting
FEED, EX_FEED: Set signed 4-byte data.
–Maximum commandable
*1
speed to + Maximum com-
mandable speed
Other than above
POSING, EX_POSING, ZRET: Set unsigned 4-byte data.
0 to Maximum command-
able speed
and also
TSPD ≤ 7FFFFFFFFh
Other than above
Set signed 4-byte data.
*2
–Maximum output speed
to +Maximum output speed
Other than above
Set signed 4-byte data.
–Maximum torque to
+Maximum torque
Other than above
Set the limit with unsigned 4-byte data.
0 to Maximum torque
Maximum torque or greater
80000000h to FFFFFFFEh
FFFFFFFFh
Set the limit with unsigned 4-byte data.
0 to Maximum output
*2
speed
Maximum output speed or
greater
80000000h to FFFFFFFEh
FFFFFFFFh
CMD_ALM
Warning
Code
0h
Operates according to the setting.
Normal
9h Ignores the command and continues the previous
A.94B command.
0h
Operates according to the setting.
Normal
9h Ignores the command and continues the previous
A.94B command.
0h
Operates according to the setting.
Normal
1h Operates with the speed clamped at the maximum
A.97B output speed.
0h
Operates according to the setting.
Normal
1h Operates with the torque clamped at the maximum
A.97B torque.
0h
Operates according to the setting.
Normal
1h Operates with the torque clamped at the maximum
A.97B torque.
1h SERVOPACK processes as TLIM = 7FFFFFFFh inter-
A.97B nally.
No torque limit applies.
0h
(The torque is clamped at the maximum torque and
Normal
the alarm CMD_ALM does not occur.)
0h
Operates according to the setting.
Normal
1h Operates with the speed clamped at the maximum
A.97B output speed.
1h SERVOPACK processes as VLIM = 7FFFFFFFh inter-
A.97B nally.
No speed limit applies.
0h
(The speed is clamped at the maximum output speed
Normal
and the alarm CMD_ALM does not occur.)
Operation for the Setting
Continued on next page.