5. SEQUENCE PROGRAMS AND SFC PROGRAMS
5
−
23
5.6
Torque Limit Value Change Request (CHGT)
In the real mode, the sequence program can change the torque limit value
regardless of whether it is operating or being stopped.
The following describes this process.
1. Torque limit value change request instruction (CHGT)
Usable Devices
Bit Devices
Word (16 Bit) Devices
Constants
Pointers
Level
Carry
Flag
Flag Error
X
Y
M
L
S
B
F
T
C
D
W
R
A0 A1
Z
V
K
H
P
I
N
D
igi
t D
esi
gnati
on
N
u
m
b
er
of S
teps
S
ubset
Index
M9012 M9010 M9011
(D)
n
!
!
!
!
!
7
!
!
!
Setting data
Setting range
(D)
J + No. of torque limit
value change axis
J1 to J8 (A172SHCPU)
J1 to J4 (A171SHCPU)
Direct
designation
1 to 500 (%)
SEQUENCE PROGRAM
CHGT
Execution command
(D)
n
[Execution
condition]
n
Change torque limit
value
Indirect
designation
(1 word)
D0 to D799
W0 to W3FF
R0 to R8191
[Control Details]
In the real mode, the sequence program changes the torque limit value of the
designated axis at the leading edge of a CHGT instruction execution command
(OFF
→
ON).
(1) In the real mode, the torque limit value can be changed at any time for axes
after servo start completion regardless of the servo status (start, stop, servo
ON, and servo OFF).
E x e c u tio n c o m m a n d
1 0 0 %
3 0 0 %
1 0 0 %
C H G T in s tru c tio n
T o rq u e lim it va lu e to b e
c h a n g e d
T o rq u e lim it va lu e to b e
d ire c te d fo r se rvo
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