Mitsubishi Electric Melsec Q Series Programming Manual page 162

3 MOTION DEDICATED PLC INSTRUCTION
[Setting data]
Setting data
(First I/O No. of the target CPU)/16
Value to specify actually is the following.
(n1)
CPU No.2: 3E1H, CPU No.3: 3E2H, CPU No.4: 3E3H
(Note): Motion CPU cannot be set as CPU No.1 in the Multiple CPU configuration.
Axis No. ("Jn")
(S1) Q173DSCPU: J1 to J32
Q172DSCPU: J1 to J16
(n2) Positive direction torque limit value to change individually ( 0.1[%])
(n3) Negative direction torque limit value to change individually ( 0.1[%])
Complete devices
(D1+0): Device which make turn on for one scan at accept completion of
instruction.
(Note-1)
(D1)
(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.)
(Note-1)
(D2)
Complete status storage device
[Controls]
Change request of positive direction torque limit value to
10.0[%] and negative direction torque limit value to 20.0[%]
toward Axis 1 of Motion CPU
Description
(Note-2)
to execute the torque limit value change.
(Note-1): Omission possible with both of (D1) and (D2) omission.
(Note-2): "n" shows the numerical value correspond to axis No. (n=1 to 32)
(1) 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.
(2) 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.
(3) Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22)
Programming Manual (REAL MODE)" for relation between torque limit value
specified with servo program and torque limit value change instruction.
OUT
(n1) (S1) (n2)
DP.CHGT2 H3E1 "J1" K100
(n1)
3E1H
Change
request
(n3) (D1) (D2)
K200 M100 D100
3 - 51
Set by
User
User
User
User
System
System
Axis No.1 of Motion CPU
Positive direction torque limit value 10.0 [%]
Negative direction torque limit value 20.0 [%]
Data type
16-bit binary
Character
sequence
16-bit binary
16-bit binary
Bit
Word
(S1)
(n2)
(n3)