YASKAWA MP2100 Series - Page 290

8.24 Torque Reference (TRQ)
8-81
8
(4) Related Parameters
(a) Setting Parameters
(b) Monitoring Parameters
Parameter Name Setting
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 generate 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 This parameter is ignored for TRQ command.
OB

091 Command Abort Positioning is performed when this bit turns ON during operation.
OL

0C Torque Reference Set the torque reference in 0.01% units. This setting can be changed during
operation.
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

36 Linear Acceleration
Time
Set the rate of acceleration or acceleration time constant for positioning.
OL

38 Linear Deceleration
Time
Set the rate of deceleration or deceleration time constant for positioning.
OW

3A Filter Time Constant
Set the acceleration/deceleration filter time constant. Exponential
acceleration/deceleration or a moving average filter can be selected in
OW

03.
Change the setting only after pulse distribution has been completed for the
command (IB

0C0 is ON).
Parameter Name Monitor Contents
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 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 Completed Always OFF for TRQ command.