Mitsubishi Electric R16MTCPU - Page 215

4 OPERATION CONTROL PROGRAMS
4.15 Motion-Dedicated Functions
213
4
• The axis No. that may be set at (S1) is within the following range. For interpolation control, set any one of the interpolation
axes to (S1).
• The target position by setting of (S2) is shown below.
When "1" (movement method) is set to (S2) and the CHGP instruction is executed with a normal task, a
dispersion may occur for new target position depending on a dispersion of instruction accept timing. Execute
the CHGP instruction in the fixed cycle task same as operation cycle to inhibit a dispersion.
• Set the starting device No. to store a target position change value at (S3). Set an even number as first device, and set a
target position change value as follows.
Ex.
When the target position change request is executed during INC-3 instruction execution.
The axis No. for target position change value 1 to 4 are as follows.
• Target position change value 1: Setting of axis No.1
• Target position change value 2: Setting of axis No.3
• Target position change value 3: Setting of axis No.4
• Target position change value 4: Not necessary to set
Motion CPU Setting range
R64MTCPU 1 to 64
R32MTCPU 1 to 32
R16MTCPU 1 to 16
• When "0" (address method) is set to (S2), the target position is the target position change value stored in the device specified with (S3).
• When "1" (movement method) is set to (S2), the target position is the position that the movement for target position change value stored in the device
specified with (S3) is executed from the feed current value at CHGP instruction execution.
Offset Name Setting range
mm inch pulse degree
Address method Movement
method
+0 Target position
change value 1
-2147483648 to
2147483647
(10
-1
[m])
-2147483648 to
2147483647
(10
-5
[inch])
-2147483648 to
2147483647
([pulse])
0 to 35999999
(10
-5
[degree])
-2147483648 to
2147483647
(10
-5
[degree])
+1
+2 Target position
change value 2
+3
+4 Target position
change value 3
+5
+6 Target position
change value 4
+7
• Set the positioning address and movement amount according to the setting of (S2) for target position change value.
• Set the axis No. among interpolation axes in ascending order for target position change value.
[K100]
Axis 3,
Axis 4,
Axis 1,
Speed
INC-3
3000 pulse
4000 pulse
4000 pulse
10000 pulse/s