Mitsubishi Electric Melsec Q Series Programming Manual page 310

5 OPERATION CONTROL PROGRAMS
Start accept flag (M2001+n)
Torque limit value change
request (CHGT)
Torque limit value individual
change request (CHGT2)
Servo program start
(Torque limit value: 30[%])
Positive direction torque limit
value monitor device
Negative direction torque limit
value monitor device
Torque limit value storage
register (D14+20n)
(Note-1): The torque limit value specified with servo program is cramped with the negative direction torque limit value changed by CHGT2.
(Note-2): The torque limit value is not changed so that "-1" is set as the positive direction torque limit value of CHGT2.
(6) The torque limit value that may be set at (S2) and (S3) is within the range 1 to

10000 ( 0.1[%]).
(7) 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 request instruction.
Operation for combining of CHGT2 and CHGT instruction is shown below.
Torque limit value [%]
60.0
40.0
20.0
0
Positive direction: 40.0[%] Negative direction: 20.0[%]
300.0[%]
300.0[%]
300[%]
(8) During speed-torque control, do not change the torque limit value to higher value
than torque limit value in speed-torque control set in the speed-torque control data
of servo data setting. If the either value of (S2) or (S3) specified with CHGT2
instruction is higher than torque limit value in speed-torque control, a minor error
(error code: 319) will occur, and the individual change of torque limit value is not
executed.
(9) The positive direction torque limit value and negative direction torque limit value
can be monitored by setting the positive direction torque limit value monitor device
and negative direction torque limit value monitor device in the expansion
parameter of servo data setting.
: Positive direction torque limit value (Forward rotation (CCW) driving torque and
reverse rotation (CW) regenerative torque)
: Negative direction torque limit value (Reverse rotation (CW) regenerative torque
and forward rotation (CCW) driving torque)
40.0[%]
(Note-1)
20.0[%]
40[%]
5 - 87
Positive direction: -1 Negative direction: 10.0[%]
(Note-2)
30.0[%]
10.0[%]
30[%]
t
50[%]
50.0[%]
50.0[%]
50[%]