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3 MOTION DEDICATED PLC INSTRUCTION
[Description]
(1) This instruction is dedicated instruction toward the Motion CPU in the Multiple
CPU system. Errors occurs when it was executed toward the CPU except the
Motion CPU.
(2) The torque limit value of the axis specified with (S1) is changed to the value of
(S2) regardless of the state of during operating or stopping.
(3) S(P).SFCS/S(P).SVST/S(P).CHGA/S(P).CHGV/S(P).CHGT/S(P).DDRD/
S(P).DDWR cannot be executed simultaneously toward the CPU executing
S(P).CHGT instruction.
When the Motion dedicated PLC instruction is started continuously, It is necessary
to take an inter-lock by the to self CPU high speed interrupt accept flag from
CPUn.
[Operation]
State display device (D1+1)
at the instruction start
accept completion
t
ON
ON
S(P).CHGT instruction
OFF
ON
OFF
OFF
OFF
1 scan
PLC program
Instruction accept
completion at the
Motion CPU side
END
END
END
END
Torque limit value change
Instruction start accept
complete device (D1+0)
To self CPU high speed interrupt
accept flag from CPUn
S(P).CHGT execution
Torque limit value change processing
ON : Abnormal completion only
[Setting range]
(1) Setting of the axis to execute the torque limit value change.
The axis to execute the torque limit change set as (S1) sets J + axis No. in a
character sequence " ".
(S1) usable range
Q173HCPU 1 to 32
Q172HCPU 1 to 8
The number of axes which can set are only 1 axis.
The axis No. set in the system setting is used as the axis No. to start.
Refer to the "Q173HCPU/Q172HCPU Motion controller Programming Manual
(COMMON)" for system settings.