YASKAWA SVC - Page 240

4.2 Motion Command Details
4.2.23 TRQ (Issue Torque/Force Reference)
4
Motion Control Program Commands and Instructions
4-97
Timing Charts
 Normal Execution
 Execution When Canceled
 Execution When Holding
OW08 = 24 (TRQ)
IW08 = 24 (TRQ)
IW09 Bit 0 (BUSY)
IW09 Bit 8 (COMPLETE)
IW09 Bit 3 (FAIL)
IW0C Bit 0 (DEN)
1 scan
IW0C Bit 1 (POSCOMP)
1 scan
OW09 Bit 1 (ABORT)
OW08 = 24 (TRQ)
IW08 = 24 (TRQ)
IW09 Bit 0 (BUSY)
IW09 Bit 8 (COMPLETE)
IW09 Bit 3 (FAIL)
IW0C Bit 0 (DEN)
Torque Control Mode
Position
Control Mode
IW0C Bit 0 (DEN)
OW09 Bit 0 (HOLD)
OW08 = 24 (TRQ)
IW08 = 24 (TRQ)
IW09 Bit 0 (BUSY)
IW09 Bit 3 (FAIL)
IW09 Bit 1 (HOLDL)
IW09 Bit 8 (COMPLETE)
1 scan
Torque Control Mode
Position
Control Mode