Yaskawa MP2200 Machine Controller - Manual (Page 335)

5.2 Motion Command Details
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( 2 ) Holding
Holding execution is not possible during TRQ command operation. The Command Pause bit
(OB††090) is ignored.
( 3 ) Aborting
The torque control mode can be cancelled by aborting execution of a command. A command is
aborted by setting the Command Abort bit (OB††091) to 1.
1. Set the Command Abort bit (OB††091) to 1. The axis will decelerate to a stop when
the Command Abort bit (OB††091) is set to 1. The abort processing will be
completed when the axis has decelerated to a stop.
2. The torque control mode operation will restart if the Command Abort bit (OB††091) is
reset to 0 during abort processing.
This type of operation will also be performed if the motion command is changed during operation
with torque control mode.
( 4 ) Related Parameters
[ a ] Setting Parameters
（ Note） : Parameters only for the SVB-01 Module.
Parameter Name Setting
OB††000 Servo ON
Turn the power to the Servomotor ON and OFF.
1: Power ON to Servomotor, 0: Power OFF to Servomotor
Motor torque will start to generate when the Servo is turned ON after switching to
Torque Control Mode.
OB††013 Speed Loop P/PI Switch Switch the speed control loop between PI control and P control.
0: PI control, 1: P control
OW††03 Function 1
SVB-01: Sets the speed unit, acceleration/deceleration unit, and filter type.
SVA-01: Sets the acceleration/deceleration unit and torque unit.
OW††08 Motion Command The mode is changed to torque control when this parameter is set to 24.
OB††090 Command Pause
The axis will decelerate to a stop if this bit is set to 1 during speed command
operation. The positioning operation will restart if this bit is set to 0 while the
command is being held.
OB††091 Command Abort A deceleration stop is performed when this bit set to 1 during operation.
OL††0C Torque Reference
Set the torque reference. This setting can be changed during operation. The unit is
determined by OW††03.
OL††0E
Speed Limit at Torque
Reference Set the speed limit for torque references. The speed limit is set as a percentage of
the rated speed.
OL††38
Linear Deceleration
Time
Set the rate of deceleration or deceleration time constant for positioning.
OW††3A Filter Time Constant
Set the acceleration/deceleration filter time constant. Exponential acceleration/
deceleration or a moving average filter can be selected in OW††03.
Change the setting only after pulse distribution has been completed for the
command (IB††0C0 is ON).