YASKAWA MP2100 Series - Page 373

11 SVR Virtual Motion Module
11.3.2 Motion Command Details
11-34
(10) Torque Reference (TRQ)
The SVR does not support a torque control function.
(a) Operating Procedure
(b) Related Parameters
• Setting Parameters
• Monitoring Parameters
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.
Execute the TRQ motion command.
• Set OW

08 to 24.
The value 24 is returned to IW

08.
Execute another motion command to cancel
the torque control mode.
OW08 = 24 (TRQ)
IW08 = 24 (TRQ)
IB090 (BUSY)
IB098 (COMPLETE)
IB0C0 (DEN)
IB0C1 (POSCOMP)
IB0C3 (NEAR)
Parameter Name Setting
OW

08 Motion Command The mode is changed to torque control when this parameter is set to 24.
Parameter Name Monitor Contents
IW

08 Servo Command Type
Response
Indicates the motion command that is being executed.
The response code will be 24 during TRQ command execution.