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6.2 Motion Command Details
6.2.23 Torque /Thrust Reference (TRQ)
6-88
[ c ] Command Hold
[ d ] Execution when an Alarm Occurs
OW
08 = 24 (TRQ)
IW
08 = 24 (TRQ)
IW
09, bit 0 (BUSY)
IW
09, bit 8 (COMPLETE)
IW
09, bit 3 (FAIL)
IW
0C, bit 0 (DEN)
1scan
OW
09, bit0 (HOLD)
IW
09, bit 1 (HOLDL)
Torque Control Mode
Position Control Mode
Alarm
IW
0C, bit 1 (POSCOMP)
1 scan
Torque Control Mode Position Control Mode
Undefined length of time
OW
08 = 24 (TRQ)
IW
08 = 24 (TRQ)
IW
09, bit 0 (BUSY)
IW
09, bit 8 (COMPLETE)
IW
09, bit 3 (FAIL)
IW
0C, bit 0 (DEN)