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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.
Servo
instruction
Positioning
method
Number of
control axes
Items set using MT Developer2
Speed
change
Common Arc Parameter block Others
Parameter block No.
Axis
Address/travel value
Command speed
Dwell time
M-code
Torque limit value
Auxiliary point
Radius
Central point
Interpolation control unit
Speed limit value
Acceleration time
Deceleration time
Rapid Stop deceleration time
Torque limit value
Deceleration processing on stop input
Allowable error range for circular interpolation
S-curve ratio
Advanced S-curve acceleration/deceleration
Repeated condition
Cancel
WAIT-ON/OFF
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)
3) Motion register (#)
4) Multiple CPU area device(U
\G)
5) Decimal constant (K)
6) 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)
4) Special relay (SM)
5) Link relay (B)
6) Annunciator (F)
For indirect setting
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