Mitsubishi Electric Melsec Q Series Programming Manual page 314

5 OPERATION CONTROL PROGRAMS
[Functions]
(1) The target position of the axis specified with (S1) is changed. The new target
position is calculated by a value stored in the device specified with (S3) using the
method specified with (S2).
POINT
(1) CHGP instruction is enabled to only starting axis.
(2) The target position is not changed when the specified axis is during deceleration
stop.
(3) There will be a delay of time equivalent to an operation cycle at the maximum
from when the CHGP instruction is executed until the target position is changed
actually.
(4) When the CHGP instruction is executed at servo program start request
(positioning start complete signal (M2400+20n) is OFF), the target position
change becomes disabled. Create the program to execute the target position
change after positioning start complete signal ON to change the target position
at same timing with servo program start.
(2) 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).
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(3) The target position by setting of (S2) is shown below.
(a) When "0" (address method) is set to (S2), the target position is the target
position change value stored in the device specified with (S3).
(b) 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.
POINT
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.
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