YASKAWA MP2100 Series, User Manual

Page: 290 / 455

8.24 Torque Reference (TRQ)
8-81
8
(4) Related Parameters
(a) Setting Parameters
(b) Monitoring Parameters
Parameter Name Setting
OB †† 000 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 generate when the Servo is turned ON after
switching to Torque Control Mode.
OB †† 013 Speed Loop P/PI
Switch Switch the speed control loop between PI control and P control.
0: PI control, 1: P control
OW †† 03 Function 1 Set the speed unit, acceleration/deceleration unit, and filter type.
OW †† 08 Motion Command The mode is changed to torque control when this parameter is set to 24.
OB †† 090 Command Pause This parameter is ignored for TRQ command.
OB †† 091 Command Abort Positioning is performed when this bit turns ON during operation.
OL
††
0C Torque Reference Set the torque reference in 0.01% units. This setting can be changed during
operation.
OL †† 0E Speed Limit at Torque
Reference Set the speed limit for torque references. The speed limit is set as a percentage
of the rated speed.
OL †† 36 Linear Acceleration
Time Set the rate of acceleration or acceleration time constant for positioning.
OL
††
38 Linear Deceleration
Time
Set the rate of deceleration or deceleration time constant 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
OW
†† 03.
Change the setting only after pulse distribution has been completed for the
command (IB
††
0C0 is ON).
Parameter Name Monitor Contents
IB †† 001 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 Servo Command Type
Response Indicates the motion command that is being executed.
The response code will be 24 during TRQ command execution.
IB
††
090 Command Executing
Turns ON when abort processing is being performed for TRQ command. Turns
OFF when abort processing has been completed.
IB
††
091 Hold Completed Always OFF for TRQ command.
IB †† 093 Command Error End 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 command is
executed.
IB †† 098 Command Completed Always OFF for TRQ command.