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6 POSITIONING CONTROL
6.16.2 Specification of speed-switching points using repetition instructions
Repetition execution between any speed-switching points.
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
eed
Dwell time
M-code
Tor
ue limit value
Auxiliar
oint
Radius
Central
oint
Control unit
S
eed limit value
Acceleration time
Deceleration time
Ra
id sto
deceleration time
Tor
ue limit value
Deceleration
rocessin
on sto
in
ut
Allowable error ran
e for circular inter
olation
S-curve ratio
Re
eated condition
Cancel
WAIT-ON/OFF
Speed
change
FOR-TIMES
FOR-ON
FOR-OFF
NEXT
: Must be set
: Set if required
[Control details]
First repetition range setting
The first repetition range is set using 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)
