Mitsubishi Electric Melsec Q Series Programming Manual page 316

5 OPERATION CONTROL PROGRAMS
(5) The following operations by the servo instruction at CHGP instruction execution
are shown below.
Control mode
Linear control
Fixed-pitch feed
Circular interpolation
control
Helical interpolation control
Constant-speed control
Speed control ( )
Speed control ( )
Speed-position switching
control
Position follow-up control
Speed control with fixed
position stop
Speed switching control
JOG operation
Speed-torque control
High-speed oscillation
Home position return
(6) Operation after execution of CHGP instruction are as follows.
• Automatic decelerating flag (M2128+n) turns ON with automatic deceleration
processing to new target position.
• Command in-position signal (M2403+20n) turns ON when the absolute value of
difference between new target position and current feed value becomes
"command in-position range" or less.
• Positioning complete signal (M2401+20n) turns ON with command output
completion to new target position.
(7) After execution of CHGP instruction, the vector speed does not change, but each
axis speed changes according to new target position. Therefore, each axis speed
may change rapidly depending on new target position.
Servo instruction
ABS 1 INC 1
ABS 2 INC 2
ABS 3 INC 3
ABS 4 INC 4
FEED 1 FEED 2 FEED
ABS circular INC circular
ABS helical INC helical
CPSTART1 CPSTART2
CPSTART3 CPSTART4
VF VR
VVF VVR
VPF VPR VPSTART
PFSTART
PVF PVR
VSTART
OSC
ZERO
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Operation
The positioning is executed from current feed value
during execution to new target position with linear
interpolation control.
3
The target position change is ignored, and a minor
error [330] will occur.
The positioning is executed from current feed value
during execution to new target position with linear
interpolation control. The positioning to a remaining
point is not executed.
(Refer to this section (9).)
The target position change is ignored, and a minor
error [330] will occur.