YASKAWA MP2100 Series User Manual page 373

11 SVR Virtual Motion Module
11.3.2 Motion Command Details
(10) Torque Reference (TRQ)
The SVR does not support a torque control function.
(a) Operating Procedure
No.
1 There are no alarms.
2 Motion command execution has been completed.
Execute the TRQ motion command.
• Set OW
The value 24 is returned to IW
Execute another motion command to cancel
the torque control mode.
(b) Related Parameters
• Setting Parameters
Parameter
OW 08
• Monitoring Parameters
Parameter
IW 08
11-34
Execution Conditions
08 to 24.
08.
Name
Motion Command
Name
Servo Command Type
Response
Both IL
IW 08 is 0 and IB
OW 08 = 24 (TRQ)
IW 08 = 24 (TRQ)
IB 090 (BUSY)
IB 098 (COMPLETE)
IB 0C0 (DEN)
IB 0C1 (POSCOMP)
IB 0C3 (NEAR)
The mode is changed to torque control when this parameter is set to 24.
Monitor Contents
Indicates the motion command that is being executed.
The response code will be 24 during TRQ command execution.
Confirmation Method
02 and IL 04 are 0.
090 is OFF.
Setting