Mitsubishi Electric Melsec Q Series Programming Manual page 313

5 OPERATION CONTROL PROGRAMS
[Overview]
The target position is changed during positioning instruction execution by target
position change request. New target position can be set by the absolute address or
relative movement amount from feed current value at target position change request.
Operation for executing target position change request to (X, Y) = (400.0μm, 500.0μm)
by absolute address setting during linear interpolation control from positioning start
position (X, Y) = (0.0μm, 0.0μm) to (X, Y) = (800.0μm, 600.0μm) is shown below.
600.0 m
500.0 m
Y
Vector speed
Axis 1 speed
Axis 2 speed
OFF
Start accept flag (M2001+n)
Target position change
request (CHGP)
OFF
(Internal process image)
Command In-position signal
OFF
(M2403+20n)
Positioning complete signal
OFF
(M2401+20n)
Target position before change (X, Y) = (800.0 m, 600.0 m)
Axis 2 (Y)
chg
0.0 m X 400.0 m
chg
Axis 1 movement amount after target position change
(400.0 m - X
ON
Axis 2 movement amount after target position change
(500.0 m - Y
ON
ON
ON
5 - 90
Target position after change
(X, Y) = (400.0 m, 500.0 m)
Position at target position change
(X, Y) = (X , Y )
chg chg
Axis 1 (X)
800.0 m
)
chg
)
chg