YASKAWA S-7 Series, Command Manual

Page: 115 / 191

3.2 Servo Commands
3.2.16 Torque Control Command (TRQCTRL: 3Dh)
3
Main Command
s
3-49
3.2.16 Torque Control Command (TRQCTRL: 3Dh)
Data Format
Phases in which the
Command can be Executed
2, 3
Command
Classification
Servo standard
command
Asynchronous
command
Processing Time
Within
communication
cycle
Subcommand Can be used
Byte
TRQCTRL
Description
Command Response
0 3Dh 3Dh
•
The TRQCTRL command sends the torque reference to a
slave station to performs torque control. The slave station
performs torque control directly without speed control
and position control.
•
Confirm the completion of the command execution by
checking that RCMD = TRQCTRL (= 3Dh) and
CMD_STAT.CMDRDY = 1.
•
CPRM_SEL_MON1/CPRM_SEL_MON2:
Monitor data can be selected by changing the common
parameter setting. Refer to the following chapter for
details.
Chapter 8 Common Parameters .
<Notes on using the command>
•
TQREF (torque reference):
Set the torque reference with a signed value.
•
VLIM (Velocity limit):
Set the speed limit with an unsigned value.
•
Refer to the following section for the above reference
data.
3.2.19 Motion Command Data Setting Method on page
3-52.
•
Refer to the following section for the reference value units
in the command area.
2.7.2 Specifying Units on page 2-27.
•
If the command is sent in the servo OFF state (SVON =
0), the command becomes effective next time the servo
ON state (SVON = 1) is established.
In the following cases, an alarm will occur and the relevant
value will be clamped at the limit value.
•
When the TQREF data is invalid: CMD_ALM = 1h (A.97B)
•
When the VLIM data is invalid: CMD_ALM = 1h (A.97B)
1 WDT RWDT
2
CMD_CTRL CMD_STAT
3
4
SVCMD_CTRL SVCMD_STAT
5
6
7
8
SVCMD_IO SVCMD_IO
9
10
11
12
VLIM
CPRM_SEL_
MON1
13
14
15
16
TQREF
CPRM_SEL_
MON2
17
18
19
20
Reserved
MONITOR1
21
22
23
24
MONITOR2
25
26
27
28
MONITOR3
29
30
31