Mitsubishi Electronics Q173HCPU Manual De Usuario
6 - 124
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.
pass points repeatedly.
Items are set in peripheral devices
Common Arc Parameter
block
Others
Servo
instruction
Positioning
method
Number of
control axes
P
ar
ame
te
r B
loc
k N
o.
Ax
is
A
dd
ress
/T
rave
l V
al
ue
C
om
m
an
d s
pe
ed
Dwe
ll T
im
e
M C
ode
To
rq
ue Li
mi
t V
al
ue
Au
xili
ar
y P
oi
nt
Ra
diu
s
Ce
nt
ra
l p
oi
nt
C
on
tr
ol Un
it
S
pe
ed
Li
m
it
V
al
ue
A
ccel
er
atio
n T
im
e
D
ece
le
ra
tion
T
im
e
Ra
pid
St
op
D
ec
ele
ra
tion
T
im
e
To
rq
ue Li
mi
t V
al
ue
D
ece
le
ra
tion
P
roc
es
si
ng
on
S
to
p In
put
Allo
w
ab
le
Er
ro
r
Ra
ng
e
fo
r Cir
cu
la
r In
te
rp
ol
at
io
n
S-
C
ur
ve R
at
io
Re
pea
te
d C
ond
iti
on
Ca
nc
el
W
A
IT
-O
N
/OF
F
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.
(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) 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)
2) Output (Y/PY)
3) Internal relay (M)/Special relay (SP.M)
4) Latch relay (L)
5) Link relay (B)
6) Annunciator (F)