Torque Limit Value Change Function; Relevant Variables/Fb - Mitsubishi Electric MELSEC iQ-R Series User Manual

10.2

Torque Limit Value Change Function

• To change a torque limit value, there are a method of using the dedicated FB and a method of using control data.
Change method
Change using a dedicated FB
Change using control data
• The number of significant digits after the decimal point differs depending on the ID assigned to the slave object map.
• In a torque limit value change, a value cannot be changed to a torque limit value that exceeds
AxisName.PrConst.TorqueLimit_Max.
Targets to be changed and corresponding FBs, control data
Target to be changed
Torque Current value
Limit value
Limit value
*1 Axis parameters can be changed by MC_WriteParameter. However, it cannot be changed during control.

Relevant variables/FB

For variables used in a method of changing control data, refer to the following.
Page 331 Relevant variables
MCv_SetTorqueLimit
To simultaneously change a positive/negative direction torque limit value, use the torque limit value change FB
"MCv_SetTorqueLimit".
Item Description
Function overview Executes a torque limit value change.
Symbol
[Structured Ladder]
Applicable hardware and RD78G(H) (Structured Text)
software (Language)
Number of input area points
(byte)
48
Description
MCv_SetTorqueLimit
AxisName.Cd.TorqueLimit_Positive, AxisName.Cd.TorqueLimit_Negative
Corresponding FB
MC_TorqueControl
MCv_SetTorqueLimit
*1

Maximum value of
the limit value
MCv_SetTorqueLimit
DUT : Axis
B : Execute
B : PositiveValid
L : PositiveValue
B : NegativeValid
L : NegativeValue
W : ExecutionMode
UD : Options
Number of output area points
(byte)
8
Corresponding control data

AxisName.Cd.TorqueLimit_Positive
AxisName.Cd.TorqueLimit_Negative

Axis : DUT
Done : B
Busy : B
CommandAborted : B
Error : B
CancelAccepted : B
ErrorID : UW
Compiling method
Subroutine type
10 RELEVANT FUNCTIONS TO TORQUE
10.2 Torque Limit Value Change Function
FB operation type
Real-time execution
333
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