YASKAWA JEPMC-MP2300-Y Series User Manual page 444

7 Motion Commands
7.2.23 Torque Reference (TRQ)
( 4 ) Related Parameters
[ a ] Setting Parameters
Parameter
OB 000 Servo ON
Speed Loop P/PI
OB 013
Switch
OW 03 Function 1
OW 08 Motion Command
OB 090 Command Pause
OB 091 Command Abort
OL 0C Torque Reference
Speed Limit at Torque
OL 0E
Reference
Linear Deceleration
OL 38
Time
S-Curve Acceleration
OW 3A
Time
[ b ] Monitoring Parameters
Parameter
IB 001
Servo ON
IL 02 Warning
IL 04 Alarm
Servo Command
IW 08
Type Response
IB 090 Command Executing
Command Hold
IB 091
Completed
IB 093 Command Error End
Command Execution
IB 098
Completed
Distribution
IB 0C0
Completed
Positioning
IB 0C1
Completed
7-86
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 rotate 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.
The axis will decelerate to a stop if this bit is set to 1 during speed command
operation.
The positioning operation will restart if this bit is set to 0 while the command is
being held.
A deceleration stop is performed when this bit set to 1 during operation.
Set the torque reference. This setting can be changed during operation.
The unit depends on the Function 1 (OW
Set the speed limit for torque references. The speed limit is set as a percentage of
the rated speed.
Set the rate of deceleration or deceleration time for positioning.
Set the acceleration/deceleration filter time constant. Exponential acceleration/
deceleration or a moving average filter can be selected in the Function 1
(OW 03).
Change the setting only after pulse distribution has been completed for the
command (IB
Name
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.
Turns ON when pulse distribution has been completed for the move command.
Turns OFF during execution of a move command.
Turns ON when pulse distribution has been completed and the current position is
within the positioning completed width. OFF in all other cases.
Setting
03).
0C0 is ON).
Monitor Contents
SVR
R
−
R
R
R
R
R
−
R
R
SVR
R
R
R
R
R
R
R
R
R
R