YASKAWA MP2000 Series User Manual page 219

7.2 Motion Command Details
7.2.10 Torque Reference (TRQ)
[ b ] Execution when Aborted
OW
OW
IW
IW
IW
IW
IW
IW
[ c ] Command Hold
OW
OW
IW
IW
IW
IW
IW
IW
[ d ] Execution when an Alarm Occurs
7-80
08 = 24 (TRQ)
09, bit 1 (ABORT)
08 = 24 (TRQ)
09, bit 0 (BUSY)
09, bit 3 (FAIL)
09, bit 8 (COMPLETE)
0C, bit 0 (DEN)
0C, bit 1 (POSCOMP)
1 scan
08 = 24 (TRQ)
09, bit 0 (HOLD)
08 = 24 (TRQ)
09, bit 0 (BUSY)
09, bit 1 (HOLDL)
09, bit 3 (FAIL)
09, bit 8 (COMPLETE)
0C, bit 0 (DEN)
1 scan
OW 08 = 24 (TRQ)
IW 08 = 24 (TRQ)
IW 09, bit 0 (BUSY)
IW 09, bit 3 (FAIL)
IW 09, bit 8 (COMPLETE)
IW 0C, bit 0 (DEN)
IW 0C, bit 1 (POSCOMP)
1 scan
Alarm
Torque control mode
Speed control
mode
Torque control mode
Speed control
mode
Undefined length of time
Position control mode
Torque control mode
Speed control
mode
Position control mode
Position control mode