Mitsubishi Electric MELSEC iQ-R Series User Manual page 340

■Details of ExecutionMode
When the torque limit value change FB is executed during axis operation, the change timing differs depending on the
ExecutionMode setting value of the input variable.
• Immediate execution
"0: mcImmediately"
The change is immediately executed regardless of the axis status (AxisName.Md.AxisStatus).
AxisName.Cd.TorqueLimit_Positive and AxisName.Cd.TorqueLimit_Negative are changed at rising edge of Execute.
• Execution after stop
"1: mcQueued"
The change is executed after the on-going FB is completed.
Busy turns TRUE at rising edge detection of Execute, and the FB waits until the axis status (AxisName.Md.AxisStatus) turns
"4: Standstill".
As soon as the axis status (AxisName.Md.AxisStatus) turns "4: Standstill", AxisName.Cd.TorqueLimit_Positive and
AxisName.Cd.TorqueLimit_Negative are changed.
When the axis status (AxisName.Md.AxisStatus) is "4: Standstill" at rising edge detection of Execute, the FB is immediately
executed.
If the axis status (AxisName.Md.AxisStatus) turns "0: Disabled"/"1: ErrorStop" before processing is completed, the processing
will be interrupted and CommandAborted will turn TRUE.
FB
Execute
Busy
Done
AxisName.Md.
AxisStatus
MCv_SetTorqueLimit
ExecutionMode
Execute
Busy
Done
AxisName.Cd.
TorqueLimit_Positive
TorqueLimit_Negative
• Execute speculatively
"3: mcSpeculatively"
If the axis status (AxisName.Md.AxisStatus) is not "4: Standstill" or if the rising edge of Execute is detected at execution of FB
instruction, the error "MCv_SetTorqueLimit Instruction Error" (error code: 3450H) will occur.
10 RELEVANT FUNCTIONS TO TORQUE
338
10.2 Torque Limit Value Change Function
5: Discrete
Motion
4: Standstill
1: mcQueued