Mitsubishi Electric R16MTCPU Programming Manual page 212

Operation error
An operation error will occur and a torque limit value change will not be made if:
• The specified axis No. at (S1) is outside the range.
• (S2) or (S3) is an indirectly specified device and its device No. is outside the range.
A warning will occur and a torque limit value change will not be made if:
• The torque limit value specified with (S2) or (S3) is outside the range of 0.1 to 1000.0[%] (warning (error code: 0A5BH)).
• The CHGT instruction is executed for any axis that has not yet been started (warning (error code: 0A5CH)).
• When the CHGT instruction is executed for any axis during speed-torque control, the value of (S2) or (S3) is greater than
the torque limit value in speed-torque control (warning (error code: 0A5EH)).
Program example
■Program which changes the torque limit value of axis 2 to positive direction 20.0[%] and to
negative direction 10.0[%]
CHGT(K2, K200, K100)
There will be a delay of time equivalent to an operation cycle at the maximum in the time from when the CHGT
instruction is executed until the torque limit value is transferred to servo amplifier actually.
4 OPERATION CONTROL PROGRAMS
210
4.15 Motion-Dedicated Functions