6 POSITIONING CONTROL

6.16.2 Specification of speed-switching points using repetition instructions

Repetition execution between any speed-switching points.

 

 

 

 

 

Items are set in peripheral devices

 

 

 

 

 

 

Common

Arc

Parameter block

Others

 

 

 

 

blockParameterNo.

Axis Address/travelvalue speedCommand timeDwell code-M

valuelimitTorque pointAuxiliary Radius pointCentral unitControl

input

interpolation

Servo

Positioning

 

valuelimitSpeed timeAcceleration timeDeceleration decelerationstopRapid time valuelimitTorque processingDecelerationon stop

errorAllowablerange for circular ratiocurve-S conditionRepeated Cancel ON/OFF-WAIT

Number of

 

 

 

 

Speed

instruction

method

control axes

 

 

 

 

change

 

 

 

 

 

 

 

 

 

FOR-TIMES

 

 

 

 

 

 

 

 

FOR-ON

FOR-OFF

NEXT

: Must be set

: Set if required

[Control details]

First repetition range setting

The first repetition range is set using the following instructions:

(1)FOR-TIMES (number of loops setting)

(a)The repetition range set specified number of times is executed repeatedly.

(b)The setting range is 1 to 32767.

Outside the range of 32768 to 0 is controlled as a setting of "1".

(c)The following devices can be used as the repetition number of times:

1) Data register (D)

 

2) Link register (W)

For indirect setting

3)Motion register (#)

4)Decimal constant (K)

5)Hexadecimal constant (H)

(2)FOR-ON (loop-out trigger condition setting)

(a)The repetition range set until the specified bit device turns on is executed repeatedly.

(b)The following devices are used as the loop-out trigger condition:

1)Input (X/PX)

2)Output (Y/PY)

3)Internal relay (M)/Special relay (SP.M)

4)Latch relay (L)

5)Link relay (B)

6)Annunciator (F)

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