Mitsubishi Melsec-Q QD75D1, User Manual

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MELSEC-Q
9 MAJOR POSITIONING CONTROL
9.2.23 LEND
The LEND is used to return the operation to the top of the repeat (LOOP to LEND)
loop.
Operation
When the repeat cycle designated by the LOOP becomes 0, the loop is
terminated, and the next positioning data No. processing is started. (The operation
pattern, if set to "Positioning complete", will be ignored.)
When the operation is stopped after the repeat operation is executed by
designated cycles, the dummy positioning data (for example, incremental
positioning without movement amount) is set next to LEND.
Positioning data
No.
Operation pattern Control system Conditions Operation
1 Continuous control ABS2
2
Positioning
complete
LOOP
Number of loop
cycles: 2
3
Continuous path
control
ABS2
4 Continuous control ABS2
5
Positioning
complete
LEND
6
Positioning
complete
ABS2
Executed in the
order of the
positioning data
No. 1 2 3
4 5 2 3
4 5 6.
(The operation
patterns of the
positioning data
Nos. 2 and 5 are
ignored.)
Positioning data setting examples
The following table shows the setting examples when "LEND" is set in positioning
data No. 8 of axis 1.
Setting item Setting example Setting details
Da.1
Operation pattern – Setting not required. (Setting value is ignored.)
Da.2
Control system LEND Set the LEND.
Da.3
Acceleration time No. – Setting not required. (Setting value is ignored.)
Da.4
Deceleration time No. – Setting not required. (Setting value is ignored.)
Da.5
Axis to be
interpolated
– Setting not required. (Setting value is ignored.)
Da.6
Positioning address/
movement amount
– Setting not required. (Setting value is ignored.)
Da.7 Arc address – Setting not required. (Setting value is ignored.)
Da.8
Command speed – Setting not required. (Setting value is ignored.)
Da.9
Dwell time – Setting not required. (Setting value is ignored.)
Axis 1 Positioning data N
o. 8
Da.10
M code – Setting not required. (Setting value is ignored.)
Refer to Section 5.3 "List of positioning data" for information on the setting details.
Restrictions
(1) Ignore the "LEND" before the "LOOP" is executed.