Mitsubishi Electric Melsec Q Series Programming Manual page 157

3 MOTION DEDICATED PLC INSTRUCTION
[Setting data]
Setting data
(First I/O No. of the target CPU)/16
Value to specify actually is the following.
(n1)
CPU No.2: 3E1H, CPU No.3: 3E2H, CPU No.4: 3E3H
(Note): Motion CPU cannot be set as CPU No.1 in the Multiple CPU configuration.
Axis No. ("Jn")
Q173DSCPU/Q173DCPU(-S1) : J1 to J32
(S1)
Q172DSCPU
Q172DCPU(-S1)
(n2) Torque limit value to change [%]
Complete devices
(D1+0): Device which make turn on for one scan at accept completion of
instruction.
(Note-1)
(D1)
(D1+1): Device which make turn on for one scan at accept abnormal completion of
instruction.
("D1+0" also turns on at the abnormal completion.)
(Note-1)
(D2)
Complete status storage device
[Controls]
Change request of torque limit value to 10[%] toward Axis 1
of Motion CPU
Description
(Note-2)
to execute the torque limit value change.
: J1 to J16
: J1 to J8
(Note-1): Omission possible with both of (D1) and (D2) omission.
(Note-2): "n" shows the numerical value correspond to axis No. (n=1 to 32)
(1) The torque limit value of axis specified with (S1) is changed to the value specified
with (n2) for the positive direction and negative direction regardless of while being
operating or stopping in the real mode.
(2) There is not an interlock signal for status of axis torque change.
When the multiple instructions are executed toward the same axis of same Motion
CPU, the torque is changed to specified value by last instruction.
(3) Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22)
Programming Manual (REAL MODE)" for relation between torque limit value
specified with servo program and torque limit value change instruction.
OUT
(n1) (S1)
DP.CHGT H3E1 "J1"
(n1)
3E1H
Change request
(n2) (D1) (D2)
K10 M100 D100
3 - 46
Set by Data type
User 16-bit binary
Character
User
sequence
User 16-bit binary
System Bit
System Word
Axis No.1 of Motion CPU
(S1)
Torque limit value 10 [%]
(n2)