Torque Limit Value Change Request (Chgt); Chgt Instructions - Mitsubishi Electric A173UHCPU Programming Manual

5. SEQUENCE PROGRAMS AND SFC PROGRAMS

5.6 Torque Limit Value Change Request (CHGT)

5.6.1

CHGT instructions

Bit Devices
X Y M L S B
(D)
n
SEQUENCE PROGRAM
[Execution
condition]
Execution command
[Control Details]
In the real mode, the sequence program can change the torque limit value
regardless of whether it is operating or being stopped.
The following describes this process.
Usable Devices
Word (16 Bit) Devices
F T C D W R A0 A1
! ! !
CHGT
In the real mode, the sequence program changes the torque limit value of the
designated axis at the leading edge of a CHGT instruction execution command
(OFF→ON).
(1) In the real mode, the torque limit value can be changed at any time for axis
after servo start completion regardless of the servo status (start, stop, servo
ON, and servo OFF).
Execution command
CHGT instruction
Torque limit value to be
changed
Torque limit value to be
directed for servo
Constants Pointers Level
Z V K H P I
! !
(Note) : possible with indirect setting only
J + No. of torque limit
(D)
value change axis
n
(D)
Change torque limit
n
value
100
300 100
5 − 14
Carry
Flag
N M9012 M9010 M9011
(Note)
7
!
Setting data Setting range
J1 to J32
Direct
designation
Indirect
designation
(1 word)
Flag Error
! !
1 to 0 (%)
D800 to D8191
W0 to W1FFF
R0 to R8191