Mitsubishi Electric MELSEC iQ-R Series User Manual page 341

■Cancel
Torque limit value change that is in the standby status after FB execution can be canceled.
• To enable cancel, execute the FB with the status of "Cancel accepted after FB start" (Options bit16) set to "TRUE: Allowed".
• Cancel is started at falling edge detection of Execute.
• Cancel is accepted only while Busy of the output pin is TRUE.
• When FB accepts cancel, CancelAccepted of the output pin will be TRUE.
• When cancel is completed, CommandAborted of the output pin will be TRUE.
• When cancel was carried out, AxisName.Cd.TorqueLimit_Positive and AxisName.Cd.TorqueLimit_Negative are not
changed.
Ex.
When canceling while the axis status (AxisName.Md.AxisStatus) is waiting for switching to "4: Standstill" after starting
MCv_SetTorqueLimit with "1: mcQueued" of ExecutionMode
AxisName.Md.
AxisStatus 5: DiscreteMotion
MCv_SetTorqueLimit
PositiveValid
PositiveValue
NegativeValid
NegativeValue
ExecutionMode
Options.bit16
Execute
Busy
CommandAborted
CancelAccepted
AxisName.Cd.
TorqueLimit_Positive
TorqueLimit_Negative
4: Standstill
100.00
200.00
1: mcQueued
Because of cancel,
AxisName.Cd.TorqueLimit_Positive,
AxisName.Cd.TorqueLimit_Negative
are not changed.
300.0
300.0
10 RELEVANT FUNCTIONS TO TORQUE
10.2 Torque Limit Value Change Function
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