Torque Reference (Trq) - YASKAWA JEPMC-MP2300-Y Series User Manual

7 Motion Commands

7.2.23 Torque Reference (TRQ)

[ e ] Execution when an Alarm Occurs
OW
IW
IB
IB
IB
IB
Alarm
7.2.23 Torque Reference (TRQ)
( 1 ) Executing/Operating Procedure
No.
1
2
7-84
08
08
090 (BUSY)
093 (FAIL)
098 (COMPLETE)
0C0 (DEN)
1 scan
R
With the MECHATROLINK-II, the TRQ command is used to operate the SERVOPACK in the
torque control mode for the same type of operation as when using the analog torque reference input
of the SERVOPACK.
The TRQ command is stipulated in MECHATROLINK-II command specifications and cannot be
used for MECHATROLINK-I.
1.
Check to see if all the following conditions are satisfied.
Execution Conditions
There are no alarms.
Motion command execution has been completed.
2.
Set the following motion setting parameters.
Torque/Thrust Reference Setting: OL
Speed Limit Setting: OL
Acceleration/Deceleration Filter Type: OW
Speed Loop P/PI Switch: OW
The torque/thrust reference bit OL
3.
Set OW 08 to 24 to execute the TRQ motion command.
The control mode in the SERVOPACK will be changed to torque control.
IW 08 will be 24 during command execution.
This command can be executed even when the Servo is OFF.
Position management using the position feedback is possible during operation with torque
control mode.
Both IL 02 and IL
IW 08 is 0 and IB
0C
0E
03
01
0C can be changed during operation.
Confirmation Method
04 are 0.
090 is OFF.