Mitsubishi Electric R16MTCPU - Page 72

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2 MOTION DEDICATED PLC INSTRUCTION
2.2 Motion Dedicated PLC Instruction
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
• DP.CHGT instruction
*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 " ".
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)
Motion CPU (S1) usable range
R64MTCPU 1 to 64
R32MTCPU 1 to 32
R16MTCPU 1 to 16
Sequence program
Torque limit value change
(Positive direction
/Negative direction)
END END
Complete device (D1+0)
ON
Status display device (D1+1)
at the completion
CPU dedicated transmission
(Non-fixed cycle)
1 scan
Transfer
Response
data set
ON: Abnormal completion only
Request data set
ON
MP.CHGT execution
MP.CHGT instruction
Torque limit value
change processing
Sequence program
DP.CHGT instruction
ON
DP.CHGT execution
Request data set
Torque limit value change
(Positive direction
/Negative direction)
END END
Complete device (D1+0)
ON
Status display device (D1+1)
at the completion
CPU dedicated transmission
(Fixed cycle)
Communication
cycle
*1
1 scan
Transfer Transfer
Response
data set
ON: Abnormal completion only
Torque limit value
change processing