Yaskawa MotionWorks IEC - Manual (Page 177)

PLCopenPlus Function Blocks for Motion Control 2013-04-13 169
6. If the Torque input is positive, and the Direction input equals
MC_Direction#negative_direction, then the Torque input is
negated. However, for compatibility with previous versions, the Direction
input is ignored if the Torque input is negative since the reverse direction
is implied.
7. When a soft position limit is exceeded, MC_TorqueControl will be
aborted and the axis will be switched into position mode. In this case, the
axis will decelerate according to ServoPack parameters Pn80D, Pn80E,
Pn80F and Pn827.
Torque Input Direction Input Axis Direction of Motion
Positive Positive Positive
Positive Negative Negative
Negative Negative Negative
Negative Positive Negative
Related Function Blocks
Y_DirectControl : Control mode 3 on Y_DirectControl block available from
the Y_Motion firmware library allows the user to specify a commanded
torque every scan.
Error Description
ErrorID Meaning
0 No Error
4369 The move could not be buffered because the axis motion
queue is full. 16 moves is the maximum which can be
buffered.