Mitsubishi Electric R16MTCPU Programming Manual page 72

Processing details
■Controls
• The torque limit value of axis specified with (S1) is changed to the positive direction torque limit value specified with (n2)
and negative direction torque limit value specified with (n3) regardless of while being operating or stopping.
• 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.
• Refer to the following for relation between torque limit value specified with servo program and torque limit value change
instruction.
MELSEC iQ-R Motion controller Programming Manual (Positioning Control)
■Operation
Outline operation between CPUs at the MP.CHGT and DP.CHGT instruction execution is shown below.
• MP.CHGT instruction
Sequence program
MP.CHGT instruction
CPU dedicated transmission
(Non-fixed cycle)
Torque limit value change
(Positive direction
/Negative direction)
Complete device (D1+0)
Status display device (D1+1)
at the completion
• DP.CHGT instruction
Sequence program
DP.CHGT instruction
CPU dedicated transmission
(Fixed cycle)
Torque limit value change
(Positive direction
/Negative direction)
Complete device (D1+0)
Status display device (D1+1)
at the completion
*1 Set in [System Parameter]  [Multiple CPU settings] in GX Works3
■Setting of axis to execute the torque limit value change
The axis to execute the torque limit change set as (S1) sets J + axis No. in a character string " ".
Motion CPU
R64MTCPU
R32MTCPU
R16MTCPU
The number of axes which can set are only 1 axis. Set "J" in a capital letter or small letter and use the axis No. set in the servo
network setting as the axis No. to start. Refer to the following for servo network settings.
MELSEC iQ-R Motion controller Programming Manual (Common)
2 MOTION DEDICATED PLC INSTRUCTION
70
2.2 Motion Dedicated PLC Instruction
MP.CHGT execution
ON
Request data set
Transfer
Response
data set
DP.CHGT execution
ON
Request data set
Transfer Transfer
Response
Communication
data set
*1
cycle
(S1) usable range
1 to 64
1 to 32
1 to 16
END END
Torque limit value
change processing
ON
ON: Abnormal completion only
1 scan
END END
Torque limit value
change processing
ON
ON: Abnormal completion only
1 scan