Mitsubishi Electric R32MTCPU - Troubleshooting Motion CPU Read Errors; Resolving Motion CPU Read Failures

2 MOTION DEDICATED PLC INSTRUCTION
2.2 Motion Dedicated PLC Instruction
69
2
Torque limit value change request instruction from the PLC CPU
to the Motion CPU: M(P).CHGT/D(P).CHGT
*1 : Instruction (M(P).CHGT: M, D(P).CHGT: D)
Setting data
■Usable devices
: Usable, : Usable partly
*1 Omission possible with both of (D1) and (D2) omission.
*2 Local devices cannot be used.
*3 Setting data (n1) to (D2): Index qualification possible (except constant)
■Description, range, setting side, data type
*1 When changing the positive direction/negative direction torque limit value is not necessary, the previous torque limit value can be
continued for the set direction by setting -1.
*2 Omission possible with both of (D1) and (D2) omission.
*3 Motion CPU cannot be set as CPU No.1 in the Multiple CPU configuration.
*4 "n" shows the numerical value correspond to axis No. (n=1 to 64)
Instruction Condition Sequence program
*1
MP.CHGT
DP.CHGT
M.CHGT
D.CHGT
Setting
data
*3
Usable devices
Internal devices
(System, User)
File register Link direct
device J□\□
Module access
device U□\G□
Index
register
Z□
Constant Others
Bit Word Bit Word Bit Word Bit Word Decimal K,
Hexadecimal
H
Real
character
string
(n1)  
(S1)  
(n2)  
(n3)  
(D1)
*1

*2

*2
(D2)
*1

*2

*2
Setting data Description Setting range Set by Data type
(n1) (First I/O No. of the target CPU)/16
Value to specify actually is the following.
*3
CPU No.2: 3E1H, CPU No.3: 3E2H, CPU No.4: 3E3H
3E1H to 3E3H User 16-bit binary
(S1) Axis No. ("Jn")
*4
to execute the torque limit value change.
R64MTCPU: J1 to J64
R32MTCPU: J1 to J32
R16MTCPU: J1 to J16
1 to 64 User Character
string
(n2)
*1
Positive direction torque limit value to change (0.1[%]) 1 to 10000
(0.1[%])
User 16-bit binary
(n3)
*1
Negative direction torque limit value to change (0.1[%]) 1 to 10000
(0.1[%])
User 16-bit binary
(D1)
*2
Complete devices
• (D1+0): Device which make turn on for one scan at accept completion of instruction.
• (D1+1): Device which make turn on for one scan at accept abnormal completion of
instruction. ("D1+0" also turns on at the abnormal completion.)
 System Bit
(D2)
*2
Complete status storage device  System Word
(n3)(n2)(S1)(n1)
P.CHGT
Command
(D2)(D1)(n3)(n2)(S1)(n1)
P.CHGT
Command
(n3)(n2)(S1)(n1)
.CHGT
Command
(D2)(D1)(n3)(n2)(S1)(n1)
.CHGT
Command