Mitsubishi Electric Q172CPU - Page 458

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8 AUXILIARY AND APPLIED FUNCTIONS
(3) Motion program
O10;
G90;
N1 G00 X100. Y100. ;
TL100;
N2 G00 X200. Y200. ;
N3 G00 X300. Y300. ;
M02;
%
300
100
N3
N2N1
200
250
50
Sequence No.
CHGT Instruction
S(P). CHGT Instruction
Servo command
X-axis
Y-axis
Torque limit value[%]
(Program command)
300
200
100
250
0
200
100
V
t
300
0
50
CHGT Instruction
S(P). CHGT Instruction
Servo command
(Note-1)
(Note-2)
300
(Note-2)
(Note-1) : Indicates the torque limit value change by a program or CHGT/S(P).CHGT instruction, and the
resultant command to servo amplifier. Unit is [%].
1) Torque limit value changed by CHGT/S(P).CHGT instruction. Given to the change target
axes.
2) The servo command indicates the torque limit value given actually to the servo amplifier.
(Note-2) : When the CHGT/S(P).CHGT instruction is not executed after power-on, the torque limit value
is 300[%].
(4) Explanation
(a) In comparison with the torque limit value of parameter block specified with
the S(P).SVST and the value specified with last CHGT/S(P).CHGT
instruction, the lower torque limit value at a program start is commanded. In
this case, the value is 200[%] every each axis.
(b) The torque limit value of TL instruction at N2 execution is 100[%] every each
axis.
(c) During N2 execution, the torque limit value is changed to 250[%] in the X-
axis and to 50[%] in the Y-axis by the CHGT/S(P).CHGT instruction.