Mitsubishi Electronics Q173CPU(N) ユーザーズマニュアル
9 - 14
9 MOTION CONTROL PROGRAMS
9.2 Servomotor/Virtual Servomotor Shaft Current Value Change
The current value of the specified axis is changed in the real mode.
The current value of the specified virtual servomotor shaft is changed in the virtual
mode.
The current value of the specified virtual servomotor shaft is changed in the virtual
mode.
Items set on peripheral device
Common Circular Parameter
block Others
Servo
instruction
Positioning
method
Number of
Control axes
P
ara
met
er
bl
o
ck
N
o.
Ax
is
A
dd
ress
/tr
av
el
C
om
m
an
d sp
ee
d
Dwe
ll ti
m
e
M
-c
ode
To
rqu
e l
imi
t v
al
ue
Au
xilia
ry
p
oin
t
R
adi
u
s
C
ent
ral
poi
nt
C
ont
rol
uni
t
S
pee
d l
im
it val
ue
A
ccele
rati
on ti
me
Decel
era
tio
n tim
e
Rapid stop dece
leration tim
e
To
rqu
e l
imi
t v
al
ue
D
ec
el
er
ati
on
p
ro
ce
ss
in
g
a
t s
top input
A
llowable er
ro
r r
ange f
or
c
irc
ular
i
nte
rp
ol
at
io
n
S
-cur
ve rati
o
C
anc
el
FI
N
acceler
ation/dece
leration
Speed
change
CHGA
Absolute
1
Disable
: Item which must be set
: Item which is set when required
: Item which is set when required
[Controls]
Control using CHGA instruction
(1) Executing the CHGA instruction changes the current value in the following
procedure.
(a) The start accept flag (M2001 to M2008/M2001 to M2032) corresponding to
the specified axis is turned on.
(b) The current value of the specified axis is changed to the specified address.
(c) Start accept flag is turned off at completion of the current value change.
(2) The current value of the specified axis is changed in the real mode.
(3) The current value of the specified virtual servo-motor shaft is changed in the
virtual mode.
(4) The used axis No. can be set within the following range.
Q172CPU(N) Q173CPU(N)
Axis 1 to 8
Axis 1 to 32
(5) The address which made the current value change by CHGA instruction is valid
on the power supply turning on.