YASKAWA MP2200

5.2
Motion Command Details
5-105
( 2 ) Holding
Holding execution is not possible during TRQ command operation. The Command Pause bit
(OB

090) is ignored.
( 3 ) Aborting
The torque control mode can be cancelled by aborting execution of a command. A command is
aborted by setting the Command Abort bit (OB

091) to 1.
1. Set the Command Abort bit (OB

091) to 1. The axis will decelerate to a stop when
the Command Abort bit (OB

091) is set to 1. The abort processing will be
completed when the axis has decelerated to a stop.
2. The torque control mode operation will restart if the Command Abort bit (OB

091) is
reset to 0 during abort processing.
This type of operation will also be performed if the motion command is changed during operation
with torque control mode.
( 4 ) Related Parameters
[ a ] Setting Parameters
（Note） : Parameters only for the SVB-01 Module.
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
SVB-01: Sets the speed unit, acceleration/deceleration unit, and filter type.
SVA-01: Sets the acceleration/deceleration unit and torque unit.
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 is
determined by 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 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).
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