Yaskawa MP940 Reference Manual - Manual (Page 409)

Control Mode MotionSuite™ MP940 Machine Controller Reference Manual
11-12
3. Torque control mode run start operates as follows:
• Turns the RUN command (Bit 0 of OWC001) ON.
• The axis outputs the torque reference and speed limit command des-
ignated in the motion parameters.
• The settings of any motion parameter can be changed even during
torque control mode selection.
4. Torque control mode stop operates as follows:
• Turns the RUN command or the torque control mode (TCON) OFF.
User Program Examples
Example of Running an Operation
Ladder Program Example (Run Command - Drawing H02)
Torque
(%)
TREF
0
Time (t)
Torque
Reference
IFON
ELSE
IEND
DEND
RUN
OBC0010 RUNPB
IB00204
IB00205
5000
TREF
⇒ OWC01B
TREF
⇒ OWC01B 0
The torque reference ouput mode
starts when IB00204 goes ON.
RUN command to drive (RUN)
The torque reference is output at
50% when IB00205 goes ON. The
torque reference is output at 50%
when IB00205 goes OFF.
H0102
RUNMOD
⇒ OWC000 Torque Control Mode ON