Mitsubishi Electric A173UHCPU Programming Manual page 230

7. POSITIONING CONTROL
[Cautions]
(1) The number of control axis cannot be changed while control is in progress.
(2) Designation of position switching points can use a combination of the absolute
data method (ABS") and the incremental method (INC").
(3) A speed-switching point cannot be designated as an address which results in a
change in travel direction. If the address results in a change in direction, the
error code 215 is stored in the minor error register for the axis and a
deceleration stop occurs.
(4) A maximum of 768 steps (approximately 100 points) can be designated in a
speed-switching control program.
(5) When control is started a check is made to ensure that the end address lies in
the stroke range.
If the check determines that positioning would result in an axis moving out of
the stroke limit range, the error code 106 is stored in the minor error register for
the axis and operation does not start.
(6) Speed switching is not carried out if the travel value between speed-switching
points is so short that the next speed-switching point is reached while speed
switching is still in progress.
(7) If no M-code is designated for a speed-switching point, the M-code from the
previous point is retained.
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