Mitsubishi Electric R16MTCPU Programming Manual page 217

• The positioning is executed to new target position with CHGP instruction during continuous trajectory control. The
positioning to a point since executing point at target position change request is not executed.
[Servo program]
<K200>
CPSTART2
Axis 1
Axis 2
Speed 2000
P1 ABS-2
Axis 1, 10000
Axis 2, 0
Speed 1000
M-code 100
P2 ABS-2
Axis 1, 12000
Axis 2, 10000
Speed 2000
M-code 200
P3 ABS-2
Axis 1, 20000
Axis 2, 10000
M-code 300
CPEND
Start request
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
Target position change
request CHGP
[St.1061] Positioning complete
(R: M32401+32n/Q: M2401+20n)
[Md.25] M-code
(R: D32013+48n/Q: D13+20n)
Vector speed
• The positioning is executed with the setting items of executing point for CHGP instruction.
• The linear interpolation control is executed in all axes specified with CPSTART for CHGP instruction. Set
target position for all axes specified with CPSTART.
• When the CHGP instruction is executed during positioning to a point of circular interpolation or helical
interpolation in the continuous trajectory control, the target position change is executed at the same time of
positioning to a point of linear interpolation.
• When the target position change of address method to the axis of control unit [degree] is executed, operation is as follows.
• The positioning to new address is executed in the current direction.
-5
• Set "0 to 35999999  10
[degree] as new address at the address method. If the outside of range is set, a minor error (error code: 1A5CH) will occur and
deceleration stop is executed.
[Locus]
Axis 2
P2
0 P1
ON
OFF
ON
OFF
ON
OFF
OFF
100
P3
Target position
after change
Axis 1
ON
200
t
4 OPERATION CONTROL PROGRAMS
4.15 Motion-Dedicated Functions
4
215