YASKAWA MP2100 Series - Page 170

7.2 Motion Parameter Details
7-15
7
(9) Motion Subcommands
(10) Torque Reference/Torque Feed Forward Compensation
OW

0A
Motion Subcommand
Setting Range Setting Unit Default Value
0 to 5 − 0
Set the motion subcommand to be used with the motion command.
0: NOP No command
1
:
PRM_RD Read SERVOPACK Parameter
2: PRM_WR Write SERVOPACK Parameter
3: Reserved Reserved
4: SMON Monitor Status
5: FIXPRM_RD Read Fixed Parameters
These commands can be used only with MECHATROLINK-II in 32-byte mode, except for Read Fixed Parameters.
OW

0C
Torque Reference/Torque
Feed Forward Compensation
Setting Range Setting Unit Default Value
−
2
31
to 2
31
−
1
Depends on the torque
unit set in Function 1
(setting parameter
OW

03, bits C to F).
0
The meaning will depend on the command.
• Set the torque reference for torque reference commands. Refer to 8.24 Torque Reference (TRQ) for details.
• Set the torque feed forward gain* for interpolation commands.
* Torque Feed Forward Gain Function
Torque feed forward gain can be used when interpolation commands (INTERPOLATE, LATCH) are
sent using SGDS SERVOPACKs.
Torque feed forward gain is set in Torque Reference (setting parameter OL

0C).
Conditions of Use:
• SERVOPACK parameter Pn002.0 = 2
• MP2100/MP2100M software version 2.02 or later
• SGDS communication interface version 8 or later
Position
Phase
Speed
Torque
Position
Phase
Speed
Torque