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4.6.3.3 TQ mode
TQ (Profile torque control mode) is a torque control mode in which the target torque, acceleration and
deceleration are specified and the position command is generated inside the servo driver.
1. Related parameters
TQ control mode related object (command・setting type)
Set the parameter value to give the torque command.
If it is set to 0, the internal processing is operated as 1.
TQ control mode related object (command・monitor type)
Position feedback (motor actual
position)
2. Control word (6040h) <TQ control mode function >
Set the control command of servo driver such as PDS state transition.
Bit information
r = reserved (No correspondence) fr = fault reset
oms = operation mode specific eo = enable operation
(control mode based on bit) qs = quick stop
h = halt ev = enable voltage
so = switch on
TQ mode doesn’t use oms bit.
3. Status word (6041h) <TQ control mode function >
Indicates the servo driver status.
Bit information