Mitsubishi Electric R16MTCPU Programming Manual page 218

• Operation for the movement amount to new target position is less than deceleration distance required to deceleration stop
from speed during control by execution of CHGP instruction is as follows.
• A minor error (error code: 1A5DH) will occur and deceleration stop is executed at execution of CHGP instruction.
• The difference between movement amount to the deceleration stop and movement amount to new target position is overrun.
• The "[St.1061] Positioning complete (R: M32401+32n/Q: M2401+20n)" does not turn ON.
Target position change
request CHGP
[St.1067] Error detection
(R: M32407+32n/Q: M2407+20n)
[St.1061] Positioning complete
(R: M32401+32n/Q: M2401+20n)
• When the negative speed change is executed after execution of CHGP instruction, a deceleration is executed to speed 0.
Then, it returns to position at target position change (CHGP instruction accept), and stops (waits) there.
Target position change
request CHGP
Speed change request CHGV
(Negative speed change)
Vector speed
4 OPERATION CONTROL PROGRAMS
216
4.15 Motion-Dedicated Functions
V
OFF
OFF
OFF
[Locus] Axis 2
Position at target position
change
Positioning start
OFF
OFF
Movement amount to target
position after change
Overrun
ON
ON
Target position before change
New target position
Axis 1
ON
ON
Speed at negative speed
change
Absolute value of negative
speed specified with CHGV
t