YASKAWA SVC - TRQ (Issue Torque;Force Reference)

4.2 Motion Command Details
4.2.23 TRQ (Issue Torque/Force Reference)
4-94
4.2.23 TRQ (Issue Torque/Force Reference)
Execute the TRQ command to operate in Torque Control Mode.
This enables the same operation as when the SERVOPACK analog torque reference input is
used.
Execution and Operating Procedures
1. Make sure that all of the following conditions are met.
* Before you change to this command during the execution of another command, you must check whether
the command can be changed and how operation changes when the command is changed. Refer to the
following section for details on changing from another command.
4.4 Changing the Command on page 4-137
2. Set the following setting parameters.
• OW03, Bits C to F (Torque Unit Selection)
• OL0C (Torque/Force Reference Setting or Torque Feedforward Compensation)
• OL0E (Speed Limit)
3. Set the OW08 setting parameter (Motion Commands) to 24 to execute the TRQ
motion command.
The control mode is changed to torque control for the SERVOPACK.
The IW08 monitor parameter (Motion Command Response Code) is 24 during execution of this
command.
4. Set OW08 to any code other than 24.
Torque Control Mode is turned OFF.
This concludes the torque control operation.
Operating Patterns
The following figure shows the operating pattern when the TRQ command is executed.
Position information and speed feedback values are not updated when the SVR Function
Module is used.
No. Execution Condition Confirmation Method
1 There must be no alarms. Both IL02 and IL04 must be 0.
2
Motion command execution for the target axis
must be completed.*
IW08 must be 0 and bit 0 in
IW09 must be 0.
OL0C can be changed during operation.
• Commands can be executed even when the Servomotor’s power is OFF (Servo OFF).
• Position management with position feedback is enabled when operating in Torque
Control Mode.
Information
Information
Information
0
Torque
Time (t)