5. SEQUENCE PROGRAMS AND SFC PROGRAMS
5 − 14
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.
5.6.1 CHGT instructions
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
Digit Designation
Number of Steps
Subset
Index
M9012 M9010 M9011
(D)
n !!! ! !
7
(Note)
!
!!
(Note) : possible with indirect setting only
Setting data Setting range
(D)
J + No. of torque limit
value change axis
J1 to J32
Direct
designation
1 to 0 (%)
SEQUENCE PROGRAM
CHGT
Execution command
(D)
n
[Execution
condition]
n
Change torque limit
value
Indirect
designation
(1 word)
D800 to D8191
W0 to W1FFF
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 axis
after servo start completion regardless of the servo status (start, stop, servo
ON, and servo OFF).
Execution command
CHGT instruction
Torque limit value to be
changed
Torque limit value to be
directed for servo
100
300 100
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