YASKAWA MP2100 Series User Manual page 290

(4) Related Parameters
(a) Setting Parameters
Parameter
OB 000 Servo ON
OB 013 Speed Loop P/PI
Switch
OW 03 Function 1
OW 08 Motion Command
OB 090 Command Pause
OB 091 Command Abort
OL 0C Torque Reference
OL 0E Speed Limit at Torque
Reference
OL 36 Linear Acceleration
Time
OL 38 Linear Deceleration
Time
OW 3A Filter Time Constant
(b) Monitoring Parameters
Parameter Name
IB 001 Servo ON
IL 02 Warning
IL 04 Alarm
IW 08 Servo Command Type
Response
IB 090 Command Executing
IB 091 Hold Completed
IB 093 Command Error End
IB 098 Command Completed
Name
Turn the power to the Servomotor ON and OFF.
1: Power ON to Servomotor, 0: Power OFF to Servomotor
Motor torque will start to generate when the Servo is turned ON after
switching to Torque Control Mode.
Switch the speed control loop between PI control and P control.
0: PI control, 1: P control
Set the speed unit, acceleration/deceleration unit, and filter type.
The mode is changed to torque control when this parameter is set to 24.
This parameter is ignored for TRQ command.
Positioning is performed when this bit turns ON during operation.
Set the torque reference in 0.01% units. This setting can be changed during
operation.
Set the speed limit for torque references. The speed limit is set as a percentage
of the rated speed.
Set the rate of acceleration or acceleration time constant for positioning.
Set the rate of deceleration or deceleration time constant for positioning.
Set the acceleration/deceleration filter time constant. Exponential
acceleration/deceleration or a moving average filter can be selected in
OW 03.
Change the setting only after pulse distribution has been completed for the
command (IB
Indicates the Servo ON status.
ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor
Stores the most current warning.
Stores the most current alarm.
Indicates the motion command that is being executed.
The response code will be 24 during TRQ command execution.
Turns ON when abort processing is being performed for TRQ command. Turns
OFF when abort processing has been completed.
Always OFF for TRQ command.
Turns ON if an error occurs during TRQ command execution. The axis will
decelerate to a stop if it is operating. Turns OFF when another command is
executed.
Always OFF for TRQ command.
8.24 Torque Reference (TRQ)
Setting
0C0 is ON).
Monitor Contents
8
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