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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
instruction
Positioning
method
Number of
control axes
Parameter Block No.
Axis
Address/Travel Value
Command s
p
eed
Dwell Time
M Code
Tor
q
ue Limit Value
Auxiliar
y
Point
Radius
Central
p
oint
Control Unit
S
p
eed Limit Value
Acceleration Time
Deceleration Time
Ra
p
id Sto
p
Deceleration Time
Tor
q
ue Limit Value
Deceleration Processin
g
on Sto
p
In
p
ut
Allowable Error Ran
g
e for Circular Inter
p
olation
S- Cur
v
e Ratio
Re
p
eated Condition
Cancel
WAIT-ON/OFF
Speed
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)