Mitsubishi Electric Melsec Q Series Programming Manual page 317

5 OPERATION CONTROL PROGRAMS
(8) When the reference axis speed designation or longest axis reference designation
is set in the linear interpolation control, an operation is as follows.
• The longest axis is not selected again at target position change. The longest
axis before change is used continuously.
• The positioning speed is calculated depending on the movement amount for
each axis new target position.
• When the movement amount of reference axis or longest axis depending on
the target position change becomes 0, a minor error (error code: 264) will occur
and deceleration stop is executed.
(9) The positioning is executed to new target position with CHGP instruction during
constant speed control. The positioning to a point since executing point at target
position change request is not executed.
[Servo program]
<K200>
CPSTART2
Axis 1
Axis 2
Speed
P1 ABS-2
Axis 1,
Axis 2,
Speed
M-code
P2 ABS-2
Axis 1,
Axis 2,
Speed
M-code
P3 ABS-2
Axis 1,
Axis 2,
M-code
CPEND
Start request
Start accept flag
(M2001+n)
Target position change
request CHGP
Positioning complete
signal (M2401+20n)
M-code (D13+20n)
Vector speed
POINT
(1) The positioning is executed with the setting items of executing point for CHGP
instruction.
(2) The linear interpolation control is executed in all axes specified with CPSTART
for CHGP instruction. Set target position for all axes specified with CPSTART.
(3) When the CHGP instruction is executed during positioning to a point of circular
interpolation or helical interpolation in the constant speed control, the target
position change is executed at the same time of positioning to a point of linear
interpolation.
[Locus]
Axis 2
2000
10000
0
1000
100
12000
10000
2000
200
20000
0
10000
300
ON
OFF
ON
OFF
OFF
OFF
5 - 94
P2 P3
P1
ON
ON
100 200
Target position
after change
Axis 1
t