Torque Limit Value Change Request: Chgt - Mitsubishi Electric R16MTCPU Programming Manual

Torque limit value change request: CHGT

Format
CHGT((S1), (S2), (S3))
Setting data
■Usable Data
: Usable
Setting Usable Data
data
Bit Word device
device
16-bit
integer
type
 
(S1)
 
(S2)
 
(S3)
■Description, data type of result
Setting data Description
(S1) Axis No. to which torque limit value change request will be given
(S2) Positive direction torque limit value (0.1[%])
(S3) Negative direction torque limit value (0.1[%])
Processing details
• The torque limit value of the axis specified with (S1) is changed to the positive direction torque limit value specified with
(S2) and negative direction torque limit value specified with (S3). The positive direction torque limit value restricts the
forward rotation (CCW) driving torque and reverse rotation (CW) regenerative torque of the servo motor, and negative
direction torque limit value restricts the reverse rotation (CW) driving torque and forward rotation (CCW) regenerative
torque of the servo motor.
• Any axis that has completed a servo startup can be changed in torque limit value any time, independently of the status,
starting, stopping, servo ON or servo OFF.
• The axis No. that may be set at (S1) is shown below.
Motion CPU
R64MTCPU
R32MTCPU
R16MTCPU
• (S2) and (S3) cannot be omitted. When only either torque limit value is changed, set "-1" as the setting data not to change.
• The torque limit value that may be set at (S2) and (S3) is within the range 1 to 10000 (0.1[%]).
• During speed-torque control, do not change the torque limit value to higher value than torque limit value in speed-torque
control set in the speed-torque control data of servo data setting. If the either value of (S2) or (S3) specified with CHGT
instruction is higher than torque limit value in speed-torque control, a warning (error code: 0A5EH) will occur, and the
individual change of torque limit value is not executed.
• The positive direction torque limit value and negative direction torque limit value can be monitored by setting the positive
direction torque limit value monitor device and negative direction torque limit value monitor device in the expansion
parameter of servo data setting.
Number of basic steps
10
Constant
32-bit 64-bit 16-bit
integer floating integer
type (L) point type
type (F) (K/H)
  
  
  
Setting range
1 to 64
1 to 32
1 to 16
Usable steps
F/FS

Calculation
expression
32-bit 64-bit
integer floating
type point
(K/H, L) type (K)
  
  
  
4 OPERATION CONTROL PROGRAMS
4.15 Motion-Dedicated Functions
G

Bit Comparison
conditional conditional
expression expression
 
 
 
Data type of result

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