Specifications
Table Of Contents
- Coverpage
- Safety Instructions
- Revision History
- Contents
- Introduction
- 1 Outline
- 2 Explanation of Functions
- 3 Q-PLC Multi-CPU
- 4 Q Motion CPU
- 5 SFC Program
- 6 SV22 Servo Programs
- 6.1 Servo program
- 6.1.1 Servo program configuration
- 6.1.2 List of servo commands
- 6.1.3 Linear control
- 6.1.4 Circular interpolation control using auxiliary point designation
- 6.1.5 Circular interpolation control using radius designation
- 6.1.6 Circular interpolation control using center point designation
- 6.1.7 Fixed-dimension feed control
- 6.1.8 Speed control
- 6.1.9 Speed/position changeover control
- 6.1.10 Speed changeover control
- 6.1.11 Constant-speed control
- 6.1.12 Repeated control (for speed changeover control and uniform speed control)
- 6.1.13 Simultaneous start
- 6.1.14 Zero point return
- 6.1.15 Position follow-up control
- 6.1.16 High-speed oscillation control
- 6.1.17 Helical interpolation control with auxiliary point designated
- 6.1.18 Helical interpolation control with radius designated
- 6.1.19 Helical interpolation control with center point designated
- 6.1.20 Current value change
- 6.1 Servo program
- 7 Operation Control Program
- 8 Windows Personal Computer Operations
- 9 Basic Practice Using the SV22 Real Mode
- 10 Applied Practice with SV22 Real Mode
- 10.1 Details of practice
- 10.2 Q172CPU practice machine system configuration
- 10.3 Practice SFC programs
- 10.4 Writing to the motion CPU
- 10.5 Program for operation
- 10.5.1 JOG operation
- 10.5.2 Main routine SFC program (real mode operation)
- 10.5.3 Execution of servo program (motion control step)
- 10.5.4 Stopping
- 10.5.5 Error reset
- 10.5.6 Current value change
- 10.5.7 Speed change (CHGV)
- 10.5.8 Reading actual current value
- 10.5.9 Continuous positioning
- 10.5.10 M code function
- 10.5.11 Indirect setting of servo program address
- 10.6 Operating the practice machine
- 11 Practicing with the SV22 Virtual Mode
- 11.1 Mechanism program
- 11.2 Details of practice
- 11.3 Starting up SW3RN-CAMP and creating the cam
- 11.4 SFC program for virtual mode
- 11.5 Editing the mechanism
- 11.6 Writing to the motion CPU
- 11.7 Reading of sequence program from Q-PLC CPU
- 11.8 SFC program for practice
- 11.9 Practice machine operations
- 11.10 Exercise (Roller setting)
- Appendix
7 - 5
Torque limit value change request: CHGT
Format Setting data Contents Result data type
(S1) Axis No. to request for torque limit value change
CHGT ((S1), (S2))
(S2) Designated torque limit value
–
(1) The torque limit value of the axis designated by (S1) is changed to the torque limit
value designated by (S2).
(2) If the servo has been started for the axis in the real mode, the torque limit value
can be changed regardless of whether operation has been started or stopped, or
whether the servo is ON or OFF.
(3) The range of axis numbers set in (S1) is shown below.
Q172CPU Q173CPU
1 to 8 1 to 32
(4) The range of torque limit value that can be set in (S2) is 1 to 500 [%].
(5) The relation of the torque limit value and torque limit value designated by the
servo program is shown below.
At start
The torque limit value is commanded to the servo of the start axis according to the
"P. torque" set with the servo program or the "torque limit value" in the designated
parameter block.
When interpolation is started, the torque value is limited for the interpolation axis.
↓
When the CHGT command is executed, the setting torque limit value is
commanded only to the designated axis.
↓
The torque limit value commanded to the servo when starting the servo program
or when starting JOG is valid thereafter only when it is less than the torque limit
value changed by CHGT.
This torque limit value is clamped for each axis.
During start
1) Even when the following setting is made, the torque limit value is not
changed to the torque limit value higher than that changed by the
CHGT command.
• Torque limit value at halfway point during constant speed control or
speed change control
• Torque limit value when speed/position changeover control is
changed to position control
• Torque limit value in speed control II
2) It is possible for CHGT command to change the torque limit value to a
value higher than the torque limit value set by the servo program or
parameter block.
Program example
Program to change torque limit value of axis 2
CHGT (K2, K10)