Yaskawa MP2200 Machine Controller - Manual (Page 451)

8.3 Motion Commands
8-35
( 10 ) Torque Reference (TRQ)
The SVR does not support a torque control function.
[ a ] Operating Procedure
[ b ] Related Parameters
■ Setting Parameters
■ Monitoring Parameters
No. Execution Conditions Confirmation Method
1 There are no alarms. Both IL††02 and IL††04 are 0.
2 Motion command execution has been completed. IW††08 is 0 and IB††090 is OFF.
Execute the TRQ motion command.
• Set OW††08 to 24.
The value 24 is returned to IW††08.
Execute another motion command to cancel the
torque control mode.
OW 08 = 24 (TRQ)
IW 08 = 24 (TRQ)
IB 090 (BUSY)
IB 098 (COMPLETE)
IB 0C0 (DEN)
IB 0C1 (POSCOMP)
IB 0C3 (NEAR)
Parameter Name Setting
OW††08 Motion Command The mode is changed to torque control when this parameter is set to 24.
Parameter Name Monitor Contents
IW††08
Servo Command Type
Response Indicates the motion command that is being executed.
The response code will be 24 during TRQ command execution.