Mitsubishi MELSEC-Q QD77MS, User Manual

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10 - 14
Chapter 10 High-Level Positioning Control
10.3.7 Repeated start (FOR condition)
In a "repeated start (FOR condition)", the data between the " block start data" in which
"5: FOR condition" is set in "
Da.13 Special start instruction" and the " block start data"
in which "6: NEXT start" is set in "
Da.13
Special start instruction" is repeatedly
executed until the establishment of the conditions set in the "condition data".
Conditional judgment is carried out as soon as switching to the point of "6: NEXT start"
(before positioning of NEXT start point).
(The "condition data" designation is set in "
Da.14 Parameter" of the " block start data"
in which "5: FOR condition" is set in " Da.13 Special start instruction".)
Section [2] shows a control example where the " block start data" and "positioning
data" are set as shown in section [1].
[1] Setting examples
(1) Block start data setting example
Axis 1 block
start data
Da.11
Shape
Da.12
Start data No.
Da.13
Special start
instruction
Da.14
Parameter
1st point 1: Continue 1 5: FOR condition 5
2nd point 1: Continue 10 0: Block start –
3rd point 0: End 50 6: NEXT start –
•
•
(Note): The "condition data Nos." have been set in " Da.14 Parameter".
(2) Positioning data setting example
Axis 1 positioning
data No.
Da.1
Operation pattern
1 01: Continuous positioning control
2 01: Continuous positioning control
3 00: Positioning complete
•
10 11: Continuous path control
11 00: Positioning complete
•
50 01: Continuous positioning control
51 00: Positioning complete
•
[2] Control examples
The following shows the control executed when the " block start data" of the 1st
point of axis 1 is set as shown in section [1] and started.
<1> Execute axis 1 "positioning data No.1, 2, 3, 10, and 11.
<2> Carry out the conditional judgment set in axis 1 "condition data No.5"
(Note-1)
.
Conditions not established Execute "Positioning data No.50, 51". Go
to <1>.
Conditions established Execute "Positioning data No.50, 51" and
complete the positioning.
(Note-1): Conditional judgment is carried out as soon as switching to NEXT start
point (before positioning of NEXT start point).