Mitsubishi Electric MELSEC iQ-R16MTCPU, Programming Manual

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5 POSITIONING CONTROL
5.17 Continuous Trajectory Control
361
5
CAUTION
When a skip is specified during continuous trajectory control and the axis which has no stroke range [degree] is included, the operation at the execution of skip
is described.
• 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:
CPSTART1
CPEND
Skip
INC-1
Speed
Axis 1
Axis 1,
INC-1
Axis 1,
INC-1
Axis 1,
M100
180.00000
10.000
270.00000
180.00000
0 180
When skip is not executed
0 270 [degree]
190 [degree]
When skip is executed
When the skip occurs at 100 [degree]
280 100 0
Program example
(2) Instruction immediately after the skip is ABS instruction:
Program example
Skip
ABS-1
Speed
Axis 1
CPSTART1
INC-1
270.00000
CPEND
Axis 1,
Axis 1,
INC-1
Axis 1,
10.000
180.00000
350.00000
M100
(The end positioning point is same regardless of whether the skip is executed or not.)
0
When skip is not executed
180 260 [degree] 350
When skip is executed
(The end positioning point is same regardless of whether the skip is executed or not.)
100 0 350 260 [degree]
When the skip occurs at 100 [degree]
(3) Instruction immediately after the skip is INC instruction and there is ABS instruction after that:
When the skip occurs
at 80 [degree]
Program example
Skip
ABS-1
Speed
Axis 1
CPSTART1
INC-1
CPEND
Axis 1,
INC-1
Axis 1,
10.000
360.00000
M100
When skip is not executed
INC-1
Axis 1,
Axis 1,
180.00000
180.00000
90.00000
0 180 90 [degree] 0 0
0 80 90 [degree] 260 80
This point moves at 370 [degree],
not 10 [degree].
When skip is executed