Mitsubishi Electric R16MTCPU Programming Manual page 214

Processing details
• The target position is changed during positioning instruction execution by target position change request. New target
position can be set by the absolute address or relative movement amount from feed current value at target position change
request. Operation for executing target position change request to (X, Y) = (400.0m, 500.0m) by absolute address
setting during linear interpolation control from positioning start position (X, Y) = (0.0m, 0.0m) to (X, Y) = (800.0m,
600.0m) is shown below.
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
Target position change request
(CHGP) (Internal process image)
[St.1063] Command in-position
(R: M32403+32n/Q: M2403+20n)
[St.1061] Positioning start complete
(R: M32401+32n/Q: M2401+20n)
• The target position of the axis specified with (S1) is changed. The new target position is calculated by a value stored in the
device specified with (S3) using the method specified with (S2).
• CHGP instruction is enabled to only starting axis.
• The target position is not changed when the specified axis is during deceleration stop.
• There will be a delay of time equivalent to an operation cycle at the maximum from when the CHGP
instruction is executed until the target position is changed actually.
• When the CHGP instruction is executed at servo program start request ("[St.1060] Positioning start
complete (R: M32400+32n/Q: M2400+20n)" is OFF), the target position change becomes disabled. Create
the program to execute the target position change after positioning start complete signal ON to change the
target position at same timing with servo program start.
4 OPERATION CONTROL PROGRAMS
212
4.15 Motion-Dedicated Functions
Axis 2(Y)
600.0μm
500.0μm
Y
chg
0.0μm X 400.0μm
chg
Vector speed
Axis 1 speed
Axis 1 movement amount after target position change
(400.0μm - X
Axis 2 speed
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Target position before change (X,Y) = (800.0μm, 600.0μm)
Target position after change
(X,Y) = (400.0μm, 500.0μm)
Position at target position change
(X,Y) = (X , Y
chg chg
Axis1(X)
800.0μm
)
chg
Axis 2 movement amount after target position change
(500.0μm - Y )
chg
)