YASKAWA SVC - Page 238

4.2 Motion Command Details
4.2.23 TRQ (Issue Torque/Force Reference)
4
Motion Control Program Commands and Instructions
4-95
Holding
• To hold an axis in place during motion and resume operation at a later time, set bit 0 (Hold
Command) in the OW09 setting parameter to 1 (Hold Command ON).
When bit 0 in OW09 is set to 1, the axis will decelerate to a stop.
The deceleration operation depends on the setting of bits 8 to F (Stop Mode Selection) in the
OW02 setting parameter.
When the axis completely decelerates to a stop, bit 1 (Command Hold Completed) in the
IW09 monitor parameter will change to 1 (Completed).
• To release the hold, set bit 0 (Hold Command) in OW09 to 0 (Hold Command OFF).
This clears the command hold status and the remaining portion of the positioning operation is
restarted.
Canceling
• Set bit 1 (Cancel Command) in the OW09 setting parameter to 1 (Cancel Command
ON).
When bit 1 in OW09 is set to 1, the axis will decelerate to a stop.
The deceleration operation depends on the setting of bits 8 to F (Stop Mode Selection) in the
OW02 setting parameter.
When the axis completely decelerates to a stop, the remaining motion will be canceled and
bit 1 (Positioning Completed) in the IW0C monitor parameter will change to 1 (Within
positioning completed range).
• Torque Control Mode resumes if bit 1 (Cancel Command) in the OW09 setting parame-
ter is set to 0 (Cancel Command OFF) during processing of the cancel operation.
• The same operation as the Cancel Command operation will be performed if the motion com-
mand code is changed during operation in Torque Control Mode.
Related Parameters
The parameters that are related to this command are listed in the following table.
 Setting Parameters
The OL0C (Torque/Force Reference Setting or Torque Feedforward Compensation) is used
as the torque feedforward reference value when any of the following motion commands are exe-
cuted.
• INTERPOLATE
• LATCH
• VELO
• PHASE
If any of the above motion commands are used in combination with other motion commands, set
the Torque/Force Reference Setting to 0 when the command cancel processing is completed so
that the Torque/Force Reference Setting will not cause any unintended effects.
Register
Address
Name Setting Details
OW00
Bit 0
Servo ON
Use this bit to turn the power to the Servomotor ON or OFF.
After the mode is changed to Torque Control Mode, set this bit to 1
to start operation.
0: Servo OFF, 1: Servo ON
OW
02
Bit 8 to F
Stop Mode Selection
Select the stop method to use when torque control is canceled.
0: Stop according to the Linear Deceleration Rate/Deceleration
Time Constant parameter
1: Stop immediately
OW
03 Function Settings 1 Select the torque unit.
OW08 Motion Commands
Set this parameter to 24 (TRQ) to change operation to Torque Con-
trol Mode.
Continued on next page.
Important