Mitsubishi Electric A173UHCPU Programming Manual page 120

5. SEQUENCE PROGRAMS AND SFC PROGRAMS
[Error Details]
[Program Example]
Speed change in progress flag
X000 M2022 M2420
0
CIRCUIT END
(1) In the following cases an operation error occurs and the CHGA instruction is
not executed.
• When the setting for (D) is other than J1 to J32.
(2) In the following cases, a minor error (error on control change) occurs and the
speed change is not executed.
When this happens, the error detection flag (M2407+20n) is turned ON and the
error code is stored in the minor error code area for the relevant axis.
• When the axis designated in (D) is executing a zeroing or circular
interpolation when the speed change is made.
• When the axis designated in (D) is decelerating when the speed change is
made.
• When the speed designated by n is outside the range of 0 to the speed limit
value when the speed change is made.
The program shown below changes the current value for axis 2.
(1) Conditions
1) Speed change command............................... Leading edge (OFF→ON) of
(2) Program example
Positioning start completion signal
POINT
• Points to note when a speed change is performed
• If a speed change instruction (CHGV) is executed in the period between
execution of the servo program start request instruction (SVST) and the
point where the "positioning start completion signal" comes ON, the speed
change may be invalid. To perform speed changes in approximately the
same timing as a start, be sure to enter the positioning start completion
signal ON status as an interlock for execution of the speed change
instruction.
Example)
Execution
command
Start reception
Positioning start
completion signal
Positioning
completion
signal
CHGV J2
Speed change in
progress flag
Positioning start completion signal
Speed change designated during
this period may be invalid.
5 − 10
X000
K
Axis 2 current value change
10
execution request
CHGV J2 K10