YASKAWA MP2000 Series User Manual page 217

7.2 Motion Command Details
7.2.10 Torque Reference (TRQ)
( 3 ) Aborting
The TRQ command can be canceled by aborting execution of a command. A command is aborted by setting the Inter-
rupt A Command bit (OW09 bit1) to 1.
• Set the Interrupt A Command bit (OW09, bit 1) to 1, the axis will decelerate to a stop in the speed mode.
Once the axis stops, the control mode will change to the position control mode and the abort processing will
be completed.
• The TRQ command will restart if the Interrupt A Command bit (OW09, bit 1) is reset to 0 during abort
processing.
• Setting the Interrupt A Command bit (OW09, bit 1) to 0 after the abort processing has been completed
will not restart the execution of TRQ command.
• This type of operation will also be performed if the motion command is changed to NOP during operation
with torque control mode.
( 4 ) Related Parameters
[ a ] Setting Parameters
Parameter
OW00
Bit 0
OW03
OW08
OW09
Bit 0
OW09
Bit 1
OL0C
OL0E
OL38
7-78
Name
Turn the power to the Servomotor ON and OFF.
1: Power ON to Servomotor, 0: Power OFF to Servomotor
Servo ON
Motor will start to rotate when the Servo is turned ON after switching to Torque Control
Mode.
Function Setting 1
Set the unit for torque reference.
Motion Command
The mode is changed to torque control mode when this parameter is set to 24.
The axis will stop if this bit is set to 1 during torque reference operation.
Holds A Command
The operation will restart if this bit is set to 0 while the command is being held.
Interrupt A Command
An axis will decelerate to a stop if this bit is set to 1 during operation.
Torque/Thrust
Set the torque reference. This setting can be changed during operation.
Reference Setting
The unit depends on the Function Setting 1 (OW03, bits C to F).
Speed Limit Setting at
Set the speed limit for torque references. The speed limit is set as a percentage of the
the Torque/Thrust
rated speed.
Reference
Straight Line
Deceleration/
Set the rate of deceleration or deceleration time for aborting the command.
Deceleration Time
Constant
Setting