Mitsubishi Electronics Q172HCPU, Q173HCPU manual 292

6 POSITIONING CONTROL

CAUTION

When a skip is specified during constant-speed control and the axis which has no stroke range [degree] is included, the operation at the execution of skip is described.

(Note-1): If there is an ABS instruction after the skip in these conditions, the end positioning point and the travel distance in the program as a whole will be the same regardless of whether the skip is executed or not.

(1) All instructions after the skip are INC instructions:

Program example			When skip is not executed
CPSTART1
			0	180	0		270[degree]
Axis	1
Speed		10.000
INC-1
Axis	1,	180.00000	When skip is executed
Skip		M100
INC-1			0	100	280	190[degree]
Axis	1,	180.00000
INC-1
Axis	1,	270.00000		When the skip occurs at 100 [degree]
CPEND

(2) Instruction immediately after the skip is ABS instruction:

Program example
CPSTART1
Axis	1	10.000
Speed
INC-1
Axis	1,	180.00000
Skip		M100
ABS-1
Axis	1,	350.00000
INC-1
Axis	1,	270.00000
CPEND

When skip is not executed

0 180 350 260[degree]

When skip is executed

(The end positioning point is same regardless of whether the skip is executed or not.)

0 100 350 260[degree]

When the skip occurs at 100 [degree]

(3)Instruction immediately after the skip is INC instruction and there is ABS instruction after that:

Program example

CPSTART1	1
Axis
Speed		10.000
INC-1
Axis	1,	360.00000
Skip		M100
INC-1
Axis	1,	180.00000
INC-1	1,
Axis		180.00000
ABS-1
		90.00000
Axis	1,
CPEND

When skip is not executed

0 0 180 0 90[degree]

When skip is executed

(The end positioning point is same regardless of whether the skip is executed or not.)

0 80		260	80	90[degree]
	When the skip occurs		This point moves at 370 [degree],
	at 80 [degree]		not 10 [degree].

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