Mitsubishi Electric R16MTCPU Programming Manual page 215

• 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).
Motion CPU
R64MTCPU
R32MTCPU
R16MTCPU
• The target position by setting of (S2) is shown below.
• 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.
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.
Offset Name
+0 Target position
change value 1
+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.
Ex.
When the target position change request is executed during INC-3 instruction execution.
[K100] INC-3
Axis 3, 3000 pulse
Axis 4, 4000 pulse
Axis 1, 4000 pulse
Speed 10000 pulse/s
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
Setting range
1 to 64
1 to 32
1 to 16
Setting range
mm inch
-2147483648 to -2147483648 to
2147483647 2147483647
-1 -5
(10 [m]) (10 [inch])
pulse degree
Address method
-2147483648 to 0 to 35999999
-5
2147483647 (10 [degree])
([pulse])
4 OPERATION CONTROL PROGRAMS
4.15 Motion-Dedicated Functions
4
Movement
method
-2147483648 to
2147483647
-5
(10 [degree])
213