6 POSITIONING CONTROL

6.17.1 Specification of pass points by repetition instructions

This section describes the method of the pass points for which executes between any pass points repeatedly.

 

 

 

 

 

Items are set in peripheral devices

 

 

 

 

 

 

Common

Arc

Parameter block

Others

 

Servo

Positioning

 

BlockParameterNo.

Axis Address/TravelValue speedCommand TimeDwell CodeM

ValueLimitTorque PointAuxiliary Radius

pointCentral UnitControl ValueLimitSpeed TimeAcceleration TimeDeceleration DecelerationStopRapid Time ValueLimitTorque ProcessingDecelerationon Stop Input ErrorAllowableRange for Circular Interpolation

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]

Setting the first of repetition range

The first of repetition range is set by 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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