7
Motion Commands
7.2.23
Torque Reference (TRQ)
7-86
( 4 ) Related Parameters
[ a ] Setting Parameters
[ b ] Monitoring Parameters
Parameter Name Setting SVR
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 rotate 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
The axis will decelerate to a stop if this bit is set to 1 during speed command
operation.
The positioning operation will restart if this bit is set to 0 while the command is
being held.
OB

091
Command Abort
A deceleration stop is performed when this bit set to 1 during operation.
OL

0C
Torque Reference
Set the torque reference. This setting can be changed during operation.
The unit depends on the Function 1 (OW

03).
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

38
Linear Deceleration
Time
Set the rate of deceleration or deceleration time for positioning.
OW

3A
S-Curve Acceleration
Time
Set the acceleration/deceleration filter time constant. Exponential acceleration/
deceleration or a moving average filter can be selected in the Function 1
(OW

03).
Change the setting only after pulse distribution has been completed for the
command (IB

0C0 is ON).
Parameter Name Monitor Contents SVR
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
Command 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 Execution
Completed
Always OFF for TRQ command.
IB

0C0
Distribution
Completed
Turns ON when pulse distribution has been completed for the move command.
Turns OFF during execution of a move command.
IB

0C1
Positioning
Completed
Turns ON when pulse distribution has been completed and the current position is
within the positioning completed width. OFF in all other cases.
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
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