Mitsubishi Electric MELSEC iQ-R16MTCPU, Programming Manual

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5 POSITIONING CONTROL
5.17 Continuous Trajectory Control
■
Repetition control operation
The repetition control operation using FOR-TIMES, FOR-ON and FOR-OFF is shown below.
Precautions
• During a FOR-ON loop, or a FOR-OFF loop, if the travel value of the specified pass point is smaller than the travel value of
one operation cycle shown below, it will not loop-out even when trigger conditions are satisfied. To perform a loop-out,
make the travel value of the pass point larger than the travel value of one operation cycle, or set a smaller speed command.
The travel value for which positioning is completed in one operation cycle is shown below.
Travel value of one operation cycle [control unit] = Command speed per second [control unit/s]

Operation cycle [s]
Ex.
Command speed: 100.00 [mm/min], Operation cycle: 0.444 [ms]
If the travel value of the pass point exceeds 0.74 [

m], it will loop-out normally.
(1) (2)
Condition 1 Condition 2 Condition 3
FOR-TIMES K1 K2 K3
FOR-ON X010

ON during first positioning (3) X010

ON during second positioning (3) X010

ON during third positioning (3)
FOR-OFF X011

OFF during first positioning (3) X011

OFF during second positioning (3) X011

OFF during third positioning (3)
Axis 1
Axis 2
CPSTART2
<K 701>
20000
(2)
ABS-2
Speed
Axis 1,
Axis 2,
(1)
INC-2
Axis 1,
Axis 2,
INC-2
Axis 1,
Axis 2,
NEXT
CPEND
0
40000
1000
30000
20000
20000
(3)
Axis 2
Axis 1
Operation in condition 3
Repeat (3)
Operation in condition 2
Operation in condition 1
50000
0 200000
100000
100
60
[mm/s]
×
0.444 [ms] = 0.74 [
μ
m]