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4.2 Motion Command Details

4.2.23 TRQ (Issue Torque/Force Reference)

4-98

 Execution When an Alarm Occurs

IW0C Bit 1 (POSCOMP)

1 scan

Position Control

Mode

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)

Alarms

This interval is not constant.

Torque Control Mode

Main Page

Default Chapter22
- Table of Contents22
- Basic Information on22
- Machine-Specific24
- Making Settings for Motion26
- Stepping Motor Drive Operation27
- Basic Information on Motion Control29
Types of Programs30
Types of Motion Control31
- Position Control31
- Phase Control32
- Torque Control32
- Speed Control32
- Basic Information on Motion Control Function Modules33
Overview35
- SVC Function Module35
- SVR Function Module35
- Conceptual Diagram36
- External Appearance and Indicators37
Specifications38
- Motion Control Function Module Specifications38
- MECHATROLINK-III Communications Specifications for the SVC Function Module39
- SVC Function Module Specifications40
- SVR Function Module Specifications42
- Applicable Versions for Additional Functions43
System Configuration Example44
Topologies46
- Cascade Connections46
- Star Connections47
- Mixed Cascade/Star Connections48
MECHATROLINK Transmission Cycle and the Number of Connected Slave Stations49
Synchronization of the MECHATROLINK-III Transmission Cycle and High-Speed Scan Cycle51
- Synchronization Conditions51
- Timing at Which the MECHATROLINK Transmission Cycle and the High-Speed Scan Cycle Are Synchronized51
- Changing Synchronization Cycles51
- Reference Output Timing52
- Precautions When Combining with Other Modules53
- Parameters for Motion Control54
Types of Motion Parameters55
Motion Parameter Registers56
Motion Parameter Tables60
- Fixed Parameter Table60
- Setting Parameter Table63
- Monitor Parameter Table71
Motion Parameter Details80
- Fixed Parameter Details80
- Setting Parameter Details89
- Monitor Parameter Details121
Automatically Updated Parameters139
- Automatically Updated Parameters When a MECHATROLINK Connection Is Established139
- Automatically Updated Parameters When a Setting Parameter Is Changed141
- Automatically Updated Parameters When a Motion Command Is Executed142
- 3.5.4 Parameters Automatically Updated During Self Configuration143
- Motion Control Program Commands and Instructions144
Commands146
- Motion Commands146
- Motion Subcommands149
Motion Command Details150
- POSING (Positioning)150
- EX_POSING (External Positioning)156
- ZRET (Zero Point Return)163
- INTERPOLATE (Interpolation)185
- LATCH (Latch)189
- FEED (Jog)193
- STEP (STEP Operation)198
- ZSET (Set Zero Point)203
- ACC (Change Acceleration Time)205
- DCC (Change Deceleration Time)207
- SCC (Change Filter Time Constant)209
- CHG_FILTER (Change Filter Type)211
- KVS (Change Speed Loop Gain)213
- KPS (Change Position Loop Gain)215
- KFS (Change Feedforward)217
- PRM_RD (Read SERVOPACK Parameter)219
- PRM_WR (Write SERVOPACK Parameter)221
- ALM_MON (Monitor Alarms)223
- ALM_HIST (Monitor Alarm History)225
- ALMHIST_CLR (Clear Alarm History)227
- ABS_RST (Reset Absolute Encoder)229
- VELO (Issue Speed Reference)232
- TRQ (Issue Torque/Force Reference)237
- PHASE (Issue Phase Reference)242
- KIS (Change Position Loop Integral Time Constant)246
- PPRM_WR (Write Non-Volatile Parameter)248
- EX_FEED (Jog with External Positioning)250
- MEM_RD (Read Memory)256
- MEM_WR (Write Memory)258
- PMEM_RD (Read Non-Volatile Memory)260
- PMEM_WR (Write Non-Volatile Memory)262
- MLTTRN_SET (Multiturn Limit Setting)264
Motion Subcommand Details267
- NOP (no Command)267
- PRM_RD (Read SERVOPACK Parameter)268
- PRM_WR (Write SERVOPACK Parameter)270
- INF_RD (Read Device Information)272
- SMON (Monitor Status)274
- FIXPRM_RD (Read Fixed Parameter)276
- FIXPRM_CHG (Change Fixed Parameter)278
Changing the Command280
- Motion Command and Subcommand Execution Judgment Table280
- Operation after Changing the Motion Command285
Motion Language Instructions331
- Machine-Specific Motion Control342
Motion Parameters344
- Reference Unit344
- Electronic Gear344
- 5.1.2 Electronic Gear345
- Axis Selection346
- Position References347
- Speed References350
- Acceleration/Deceleration Settings352
- Acceleration/Deceleration Filter Settings355
- Linear Scale Pitch and Rated Speed356
Absolute Encoders358
- Absolute Position Detection358
- Absolute Encoder System Startup359
- Resetting the Absolute Encoder361
- Using the SERVOPACK to Reset the Absolute Encoder365
- Reading Position Data When the Power Supply Is Turned on366
- 5.2.6 Position Management Method for each Machine Operation Type367
Multiturn Limit388
- Check Items before Setup388
- Setting Procedure388
- Programming Example390
- Related Parameters392
- Multiturn Limit Setting Disagreement Detection Timing392
- Checking for a Multiturn Limit Setting Disagreement392
- Clearing the Warning393
Absolute Encoders with 24-Bit Resolution394
- Encoder with 24-Bit Resolution and Electronic Gear Ratio Settings394
- Self Configuration and Encoder Resolution395
- Possible Travel Distances and Deceleration Times for the MP3000396
Controlling Vertical Axes400
- SERVOPACK Holding Brake400
- Connecting to a Σ-V or Σ-7 Servo Drive401
Overtravel403
- Overtravel Input Signal Connections403
- Parameter Settings404
Software Limits406
- Software Limit Parameter Selection406
- Related Parameters407
- Comparison with the MP2000-Series SVC-01 Module407
- The Effects of Software Limits408
- Processing after an Alarm Occurs408
Modal Latching409
- Latch Request409
- Canceling a Latch Request409
- Latch Signals409
- Related Parameters409
- 6.4.4 Related Parameters410
Waiting for Slave Detection with the SVC Function Module411
- Overview411
- Applicable Versions411
- Operating Procedure412
- Timing to Complete Slave Detection413
- Indicators When the Power Is Turned on414
- Precautions414
Slave CPU Synchronization415
- Overview415
- Applicable Versions and Execution Conditions416
- Setting Procedure417
- I/O Registers421
- Execution Flow for Slave CPU Synchronization422
- Procedure to Turn on Power423
- Confirmation that the Slave CPU Is Synchronized423
- Handling Input Errors424
- Effect on Application Program425
- Operation of Slave MP3000426
- 6.6.11 Precautions427
Multiturn Limit Setting Disagreement Detection428
- Applicable Versions428
- Related Parameters429
- Multiturn Limit Setting Disagreement Detection Timing429
- Checking for a Multiturn Limit Setting Disagreement429
- Clearing the Warning429
- 6.7.5 Clearing the Warning430
Precautions When Using Σ-7-Series Servopacks431
- 6.8.1 MP3000 Versions that Support the Σ-7-Series Servopacks431
- Σ-7-Series SERVOPACK Electronic Gear Ratio and MP3000 Settings432
- Link Assignments433
- Number of Pulses Per Motor Rotation433
- Self Configuration433
- 6.8.6 Operating Specifications When Using an MP3000 Controller that Supports the Σ-7-Series Servopacks434
- Operating Specifications When Using an MP3000 Controller that Does Not Support the Σ-7-Series Servopacks436
- Making Settings for Motion Control with the MPE720437
Module Configuration Settings438
- Settings for Motion Control Function Modules438
- Deleting Unused Motion Control Function Modules441
MECHATROLINK Communications Settings443
- Displaying the MECHATROLINK Detail Definition Dialog Box443
- MECHATROLINK Detail Definition Dialog Box Details444
Setting Motion Parameters455
- Displaying and Setting Motion Parameters455
- Precautions after Making Settings458
SERVOPACK Parameter Data Flow459
- When the Power Supply Is Turned on459
- Normal Operation460
- When the SERVOPACK Tab Page Is Opened460
- When SERVOPACK Parameters Are Saved461
- When Saving Data to Flash Memory461
One Axis Positioning463
- Machine Configuration463
- Related Parameters463
- Sample Programming464
Interpolation of Two Axes467
- Machine Configuration467
- Related Parameters468
- Sample Programming469
Torque Control471
- Machine Configuration471
- Related Parameters471
- Sample Programming472
Phase Control473
- Machine Configuration473
- Related Parameters474
- Sample Programming475
Overview478
Connection Specifications479
Parameter Support Table480
- Fixed Parameter Table480
- Setting Parameter Table483
- Monitor Parameter Table492
Link Assignments501
Common Parameters502
Connection Specifications504
Setup Procedure505
- Check Items before Setup505
- 10.2.2 Inverter Settings506
- 10.2.3 I/O Options514
- 10.2.3 I/O Options515
Precautions for Inverter Operation516
Main Commands and Subcommands521
- List of Main Commands and Subcommands521
- Applicable Combinations of Main Commands and Subcommands522
- Main Command Details523
- 10.4.4 Subcommand Details530
Motion Parameter Details537
- Fixed Parameter List537
- 10.5.2 Setting Parameter List538
- 10.5.3 Monitor Parameter List550
- Inverter Output Data Details561
- 10.5.5 Inverter Input Data Details562
Alarm and Warning Codes for Inverter566
- 10.6.1 A1000566
- 10.6.2 V1000570
- 10.6.2 V1000572
- Appendices574
- Appendices Provides Supplemental Information Related to Motion Control574
Control Block Diagrams575
- 11.1.1 Control Block Diagram for Position Control575
- 11.1.2 Control Block Diagram for Phase Control577
- 11.1.3 Control Block Diagram for Torque Control579
- 11.1.4 Control Block Diagram for Speed Control581
- System Registers583
- MECHATROLINK-III I/O Module Settings586
- Setting Fixed Parameters According to Encoder Type and Axis Type609
- Common Parameters and SERVOPACK Parameters611
- Terminology613
Index622
Revision History622

YASKAWA SVC - Page 241

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