Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 246)

6.2 Motion Command Details
6.2.23 Torque /Thrust Reference (TRQ)
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Motion Commands
6.2.23 Torque /Thrust Reference (TRQ)
With the MECHATROLINK-II, the TRQ command is used to operate the SERVOPACK in the torque control mode for
the same type of operation as when using the analog torque reference input of the SERVOPACK.
For SVR, the torque reference can be monitored, but position data cannot be updated.
The TRQ command is stipulated in MECHATROLINK-II command specifications and cannot be used for MECHA-
TROLINK-I.
( 1 ) Executing/Operating Procedure
1.
Check to see if all the following conditions are satisfied.
* This condition is a basic execution condition. Refer to Chapter 7 Switching Commands during Execution when
changing the command being executed to a TRQ command.
2. Set the following motion setting parameters.
Torque Reference: OL 0C
Speed Limit Setting at the Torque/Thrust Reference: OW 0E
Torque List Selection: OW 03, bits C to F
Speed Loop P/PI Switch: OW 01
The torque reference OL 0C can be changed during operation.
3.
Set OW 08 to 24 to execute the TRQ motion command.
The control mode in the SERVOPACK will be changed to torque control.
IW
08 will be 24 during command execution.
This command can be executed even when the Servo is OFF.
Position management using the position feedback is possible during operation with torque control mode.
4. Execute another motion command to cancel the torque control mode.
( 2 ) Holding
To pause the axis movement temporarily and then restart moving, set the Holds a Command bit of Motion Command
Control Flag (OW
09, bit 0) to 1 (ON).
• The axis will decelerate to a stop when bit 0 of OW 09 is turned ON.
• When the axis stops, bit 1 (Command Hold Completed) of IW 09 (Motion Command Status) will turn ON.
• To cancel the holding status, set bit 0 of OW 09 to 0 (OFF).
The holding status will be cancelled, and the axis will start moving again.
R
No. Execution Conditions Confirmation Method
1 There are no alarms. Both IL 02 and IL 04 are 0.
2 Motion command execution has been completed. * IW 08 is 0 and IW 09, bit 0 is OFF.
TRQ Operating Pattern
Torque
Time (t)
0