Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 247)

6.2 Motion Command Details
6.2.23 Torque /Thrust Reference (TRQ)
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( 3 ) Aborting
The torque control mode can be canceled by aborting execution of a command. A command is aborted by setting the
Interrupt a Command Abort 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. The abort process-
ing will be completed when the axis has decelerated to a stop.
• The torque control mode operation will restart if the Interrupt a Command bit (OW 09, bit 1) is reset to 0
during abort processing.
• This type of operation will also be performed if the motion command is changed during operation with torque
control mode.
( 4 ) Related Parameters
[ a ] Setting Parameters
[ b ] Monitoring Parameters
Parameter Name Setting SVR
OW 00
Bit 0
Servo ON
Turn the power to the Servomotor ON and OFF.
1: Power ON to Servomotor, 0: Power OFF to Servomotor
Motor torque will start to rotate when the Servo is turned ON after switching to
Torque Control Mode.
OW 03 Function Setting 1 Set the unit for torque reference.
OW 08 Motion Command The mode is changed to torque control when this parameter is set to 24.
OW 09
Bit 0
Holds a Command
The axis will stop when this bit is changed to ON while the axis is moving for the
torque reference.
The axis will start moving again when this bit is changed to OFF while the com-
mand is being held.
OW 09
Bit 1
Interrupt a Command A deceleration stop is performed when this bit set to 1 during operation.
OL 0C Torque Reference
Set the torque reference. This setting can be changed during operation.
The unit depends on the Function Setting 1 (OW
03, bits C to F).
OW 0E
Speed Limit Setting at
the Torque/Thrust
Reference
Set the speed limit for torque references. The speed limit is set as a percentage of
the rated speed.
−
OL 38
Straight Line Deceler-
ation/Deceleration
Time Constant
Set the rate of deceleration or deceleration time for positioning.
OW 3A Filter Time Constant
Set the acceleration/deceleration filter time constant. Exponential acceleration/
deceleration or a moving average filter can be selected in the Function Setting 1
(OW
03, bits 8 to B).
Change the setting only after pulse distribution has been completed for the com-
mand (IW
0C, bit 0 is ON).
Parameter Name Monitor Contents SVR
IW 00
Bit 1
Running (At Servo
ON) Indicates the Servo ON status.
ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor
IL 02 Warning Stores the most current warning.
IL 04 Alarm Stores the most current alarm.
IW 08
Motion Command Re-
sponse Code Indicates the motion command that is being executed.
The response code will be 24 during TRQ command execution.
IW 09
Bit 0
Command Execution
Flag Turns ON when abort processing is being performed for TRQ command. Turns
OFF when abort processing has been completed.
IW 09
Bit 1
Command Hold
Completed
Always OFF for TRQ command.
IW 09
Bit 3
Command Error
Completed Status
Turns ON if an error occurs during TRQ command execution.
The axis will decelerate to a stop if it is operating. Turns OFF when another com-
mand is executed.
R
R
R
R
R
R
R
R
R
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R
R
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