Yaskawa MP940 Reference Manual - Manual (Page 133)

Mechatrolink Function MotionSuite™ MP940 Machine Controller Reference Manual
4-42
4. Designating a Desired Torque.
Torque limit control is possible according to the motion parameter setting
during speed reference, position control, and phase control.
5. The monitor data of the servo amplifier (SGDH) can be referenced at
high speed. The following parameters can be referenced from the lad-
der or motion program.
Ladder/Motion Program Referenced Parameters
Monitor Data Reference Method
Feedback Position Motion Monitor Parameter Machine Coordinate Feedback Position
(ILC008).
Position Deviation Motion Monitor Parameter Position Offset (ILC00A)
Command Position Motion Monitor Parameter Machine Coordinate Command Position
(ILC002)
Reference Speed Motion Monitor Parameter Speed Reference Output Monitor
(IWLC00C).
Motor Speed Motion Monitor Parameter Speed Monitor (IWLC00D).
External Encoder Count CNTR I/O Data Setting Current Hardware Value (IL0004)
Current Counter Value (IL0010)
Pn402
Pn404
Pn403
（/P-CL：ON）
Pn405
（/N-CL：ON）
Torque Limit
Torque Limit
Speed Loop
Gain
（Pn100）
Integral
（Pn101）
+
+
+
Speed Feedback
-
Global Memory
/P-CL
(OBC0013)
/N-CL
(OBC0014)
Torque Limit
(OWC002)
Speed
Reference
(individual
control loop
output)