Mitsubishi Electric MELSEC-L02SCPU User Manual page 128

(2) Precautions
(a) Instruction execution during acceleration/deceleration
If the axis was accelerating/decelerating to the command speed when the execution command for Target
position change instruction (IPTPCHG1(P)) was established, the workpiece is allowed to reach the command
speed, after which positioning to the new target position is performed. If the axis starts decelerating to a stop
before reaching the command speed, positioning to the new target position is performed after the axis has
decelerated to a stop.
(b) Software stroke limit
If the new target value exceeds the range of software stroke limits, the target position is not changed and the
positioning control effective before the establishment of the execution command for Target position change
instruction (IPTPCHG1(P)) continues. When the positioning control is complete, a "Software stroke limit +"
error (Axis 1 error code: 1103) or "Software stroke limit -" error (Axis 1 error code: 1104) occurs. (If causes of
both "Software stroke limit +" error (Axis 1 error code: 1103) and "Software stroke limit -" (Axis 1 error code:
1104) error are present, a "Software stroke limit -" error (Axis 1 error code: 1104) occurs.)
(c) Multiple target position changes
The target position can be changed as many times as desired during a single operation.
• During operation under position control (INC), a new target position is always defined by the movement
amount from the current value from which positioning is started.
• During position control of speed/position switching control, a new target position is always defined by the
movement amount from the current value (0) at which speed control switched to position control.
If the target position is changed multiple times while the workpiece is accelerating/decelerating to the command
speed or simply decelerating, only the last target position change is implemented.
(d) Target position change and speed change
If the execution command for Target position change instruction (IPTPCHG1(P)) is established during speed
change, the target position change is executed upon completion of the speed change. Note that if the new
speed value is 0, only the target position is changed and the workpiece does not move. If the speed is set to
other than 0, positioning is performed to the target position.
(e) Positioning control and target position change
The target position cannot be changed during operation other than when position control is active. A "Target
position change not possible" warning (Axis 1 warning code: 1021) occurs.
(f) When Axis 1 speed 0 (SM1844) is on
If the Target position change instruction (IPTPCHG1(P)) is executed when the Axis 1 speed 0 (SM1844) is on,
a "Target position change not possible" warning (Axis 1 warning code: 1021) occurs and the target position is
not changed.
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V
Target position change instruction execution command
Processing for
change
Previous target position New target position
Changed
t