YASKAWA MP2000 Series - Page 253

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
A
larm
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)