YASKAWA SVC - Page 239

4.2 Motion Command Details
4.2.23 TRQ (Issue Torque/Force Reference)
4-96
 Monitor Parameters
OW09
Bit 0
Hold Command
When this bit is set to 1 (ON) during an issue torque reference oper-
ation, the axis stops.
Operation is resumed when this bit is set to 0 (OFF) when the axis is
being held.
OW
09
Bit 1
Cancel Command
When this bit is set to 1 (ON) during operation, the axis will deceler-
ate to a stop.
OL
0C
Torque/Force Reference
Setting or Torque Feed-
forward Compensation
Set the value of the torque reference. This parameter can be
changed during operation.
The unit depends on the set value of bits C to F in OW03.
OL
0E
Speed Limit for Torque/
Force Reference
Set the speed limit for torque references. Set this value as a percent-
age of the rated speed.
OL
38
Linear Deceleration
Rate/Deceleration Time
Constant
Specify the deceleration rate when torque control is canceled as the
deceleration time.
OW
3A Filter Time Constant
Set the acceleration/deceleration filter time constant. Exponential
acceleration/deceleration or a moving average filter can be selected
in bits 8 to B in OW03.
This setting can be changed only when distribution has been com-
pleted (i.e., when bit 0 in IW0C is 1).
Register
Address
Name Monitored Contents
IW
00
Bit 1
Running with Servo
ON
This bit shows the Servo status for the axis.
0: Stopped, 1: Running with Servo ON
IL
02 Warnings This parameter reports the current warning status.
IL04 Alarms This parameter reports the current alarm status.
IW
08
Motion Command
Response Code
This parameter shows the motion command currently in execution.
This parameter is 24 during execution of the TRQ command.
IW
09
Bit 0
Command Execu-
tion Flag
This bit changes to 1 (Processing) when cancel processing is being per-
formed for the TRQ command. This bit changes to 0 (Completed) when
cancel processing has been completed.
IW
09
Bit 1
Command Hold
Completed
This bit is always 0 (Command hold not completed) for the TRQ com-
mand.
IW
09
Bit 3
Command Error End
This bit changes to 1 (Completed with an error) when an error occurs
during execution of the TRQ command.
The axis will decelerate to a stop if it is in operation. This bit changes to
0 (Completed normally) when another command is executed.
IW
09
Bit 8
Command Execu-
tion Completed
This bit is always 0 (Normal execution not completed) for the TRQ com-
mand.
IW0C
Bit 0
Distribution Com-
pleted
This bit changes to 1 (Distribution completed) when the distribution for
the travel motion command is completed.
This bit is 0 (Distributing pulses) when the execution of a travel motion
command is in progress.
IW
0C
Bit 1
Positioning Com-
pleted
This bit is 1 (Within positioning completed range) when distribution is
completed and the current position is within the positioning completed
range. This bit is 0 (Outside positioning completed range) in all other
cases.
IW
0C
Bit 3
Near Position
The operation of this bit depends on the set value of OL20.
If OL20 is 0, this bit is 1 (Within near position range) when distribu-
tion is completed (i.e., when DEN is 1), and it is 0 (Outside near position
range) when distribution is not completed.
When OL20 is not 0, this bit is 1 when within the range of the fol-
lowing formula, regardless of the state of distribution, and 0 in all other
cases.
|(IL12) − (IL16)| ≤ OL20
IL12: Machine Coordinate System Reference Position
IL16: Machine Coordinate System Feedback Position
OL20: NEAR Signal Output Width
Continued from previous page.
Register
Address
Name Setting Details