YASKAWA MP2100 Series User Manual page 170

(9) Motion Subcommands
OW 0A
Set the motion subcommand to be used with the motion command.
0: NOP
1: PRM_RD
2: PRM_WR
3: Reserved
4: SMON
5: FIXPRM_RD
These commands can be used only with MECHATROLINK-II in 32-byte mode, except for Read Fixed Parameters.
(10) Torque Reference/Torque Feed Forward Compensation
OW 0C
The meaning will depend on the command.
• Set the torque reference for torque reference commands. Refer to 8.24 Torque Reference (TRQ) for details.
• Set the torque feed forward gain* for interpolation commands.
* Torque Feed Forward Gain Function
Torque feed forward gain can be used when interpolation commands (INTERPOLATE, LATCH) are
sent using SGDS SERVOPACKs.
Torque feed forward gain is set in Torque Reference (setting parameter OL
Conditions of Use:
• SERVOPACK parameter Pn002.0 = 2
• MP2100/MP2100M software version 2.02 or later
• SGDS communication interface version 8 or later
Motion Subcommand
Setting Range
0 to 5
No command
Read SERVOPACK Parameter
Write SERVOPACK Parameter
Reserved
Monitor Status
Read Fixed Parameters
Torque Reference/Torque
Feed Forward Compensation
Setting Range
31 31
−2 to 2 −1
7.2 Motion Parameter Details
Phase
Position
Setting Unit
−
Position
Phase
Setting Unit
Depends on the torque
unit set in Function 1
(setting parameter
OW 03, bits C to F).
0C).
Speed Torque
Default Value
0
Speed Torque
Default Value
0
7
7-15