7
Motion Commands
7.2.23
Torque Reference (TRQ)
7-84
[ e ] Execution when an Alarm Occurs
7.2.23 Torque Reference (TRQ)
With the MECHATROLINK-II, the TRQ command is used to operate the SERVOPACK in the
torque control mode for the same type of operation as when using the analog torque reference input
of the SERVOPACK.

The TRQ command is stipulated in MECHATROLINK-II command specifications and cannot be
used for MECHATROLINK-I.
( 1 ) Executing/Operating Procedure
1.
Check to see if all the following conditions are satisfied.
2.
Set the following motion setting parameters.
Torque/Thrust Reference Setting: OL

0C
Speed Limit Setting: OL

0E
Acceleration/Deceleration Filter Type: OW

03
Speed Loop P/PI Switch: OW

01

The torque/thrust reference bit OL

0C can be changed during operation.
3.
Set OW

08 to 24 to execute the TRQ motion command.
The control mode in the SERVOPACK will be changed to torque control.
IW

08 will be 24 during command execution.

This command can be executed even when the Servo is OFF.

Position management using the position feedback is possible during operation with torque
control mode.
Alarm
1 scan
OW08
IW08
IB090 (BUSY)
IB098 (COMPLETE)
IB093 (FAIL)
IB0C0 (DEN)
R
No. Execution Conditions Confirmation Method
1 There are no alarms.
Both IL

02 and IL

04 are 0.
2 Motion command execution has been completed.
IW

08 is 0 and IB

090 is OFF.
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