Torque Reference (Trq) - YASKAWA MP2100 Series User Manual

8 Motion Commands

8.24 Torque Reference (TRQ)

With the MECHATROLINK-II, the TRQ command is used to operate the SERVOPACK under the torque control
mode, enabling the same type of operation as is possible with the analog torque reference input of the
SERVOPACK.
(1) Operating Procedure
No.
1 There are no alarms.
2 Motion command execution has been completed.
Set the motion setting parameters.
• Torque Reference Setting: OL
• Speed Limit Setting: OL
• Acceleration/Deceleration Filter Type:
OW
• Speed Loop P/PI Switch: OW
Execute the TRQ motion command.
• Set OW
The control mode in the SERVOPACK is
changed to torque control.
IW 08 will be 24 during execution.
Operation in torque control mode
Execute another motion command to cancel
the torque control mode.
(2) Holding
Holding execution is not possible during TRQ command operation. The Command Pause bit (OB
ignored.
(3) Aborting
The torque control mode can be cancelled by aborting execution of a command. A command is aborted by setting
the Command Abort bit (OB
1. Set the Command Abort bit (OB
(OB
2. The torque control mode operation will restart if the Command Abort bit (OB
abort processing.
This type of operation will also be performed if the motion command is changed during operation with torque
control mode.
8-80
Execution Conditions
0C
0E
03
01
08 to 24.
091) to 1.
091) is set to 1.
Both IL
IW 08 is 0 and IB
Torque
Torque Reference
0
• Position management using the position feedback is possible
during operation with torque control mode.
• The torque can be changed during operation.
• This command can be executed even when the Servo is OFF.
• The Command Pause (OB
• If OB 091 is set to 1 to abort execution, the axis will decelerate
to a stop.
091) to 1. The axis will decelerate to a stop if the Command Abort bit
Confirmation Method
02 and IL 04 are 0.
090 is OFF.
090) cannot be used.
091) is reset to 0 during
Time t
090) is