YASKAWA MP2100 Series User Manual page 307

9 Control Block Diagrams
9.1.3 Torque Control
(2) Control Block Diagram for Torque Control
9-12
OW 00 Run Commands
OW 03 Function 1
OW 08 Motion Command
OW 09 Motion Command Options
OW 0A Motion Subcommand
OL 0C Torque Reference
OL 0E Speed Limit at Torque
Reference
OL 48 Zero Point Offset
OL 4A Work Coordinate System Offset
OL 4C Preset Data of POSMAX Turn
IW 00 Drive Status
IL 02 Warning
IL 04 Alarm
IW 08 Servo Command Type Response
IW 09 Servo Module Command Status
IW 0A
Motion Subcommand Response Code
IW 0B Motion Subcommand Status
IW 0C Position Management Status
IL 0E
Machine Coordinate Target Position (TPOS)
IL 10 Target Position (CPOS)
IL 12
Machine Coordinate System Position (MPOS)
IL 14
32-bit Coordinate System Position (DPOS)
IL 16
Machine Coordinate Feedback Position (APOS)
IL 18
Machine Coordinate Latch Position (LPOS)
IL 1A Position Error (PERR)
IL 1C Target Position Difference Monitor
IL 1E POSMAX Number of Turns
IL 20 Speed Reference Output Monitor
IW 2C Network Servo Status
IW 2D Servo Alarm Code
IW 2E Network Servo I/O Monitor
IW 2F Network Servo User Monitor Information
IW 30 Servo User Monitor 2
IL 40 Feedback Speed
IL 42 Torque (Thrust) Reference Monitor
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