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Chapter 9 Major Positioning Control
9.2.23 LEND
The LEND is used to return the operation to the top of the repeat (LOOP to LEND)
loop.
Operation
When the repeat cycle designated by the LOOP becomes 0, the loop is terminated,
and the next positioning data No. processing is started. (The operation pattern, if
set to "Positioning complete", will be ignored.)
When the operation is stopped after the repeat operation is executed by
designated cycles, the dummy positioning data (for example, incremental
positioning without movement amount) is set next to LEND.
Positioning
data No.
Operation pattern Control method Conditions Operation
1 Continuous control ABS2
Executed in the order of
the positioning data No. 1
2 3 4 5
2
3 4 5 6.
(The operation patterns of
the positioning data Nos.
2 and 5 are ignored.)
2 Positioning complete LOOP
Number of loop
cycles: 2
3 Continuous path control ABS2
4 Continuous control ABS2
5 Positioning complete LEND
6 Positioning complete ABS2
Positioning data setting examples
[When "LEND" is set in positioning data No. 8 of axis 1]
Setting item Setting example Setting details
Axis 1 Positioning data No. 1
[Da.1]
Operation pattern – Setting not required. (Setting value is ignored.)
[Da.2]
Control method LEND Set the LEND.
[Da.3]
Acceleration time No. –
Setting not required. (Setting value is ignored.)
[Da.4]
Deceleration time No. –
[Da.6]
Positioning address/ movement
amount
–
[Da.7]
Arc address –
[Da.8]
Command speed –
[Da.9]
Dwell time/JUMP destination
positioning data No.
–
[Da.10]
M code/Condition data No./Number
of LOOP to LEND repetitions
–
[Da.20]
Axis to be interpolated No.1 –
[Da.21]
Axis to be interpolated No.2 –
[Da.22]
Axis to be interpolated No.3 –
(Note): Refer to Section 5.3 "List of positioning data" for information on the setting details.
Restrictions
(1) Ignore the "LEND" before the "LOOP" is executed.
(2) When the operation pattern "Positioning complete" has been set between
LOOP and LEND, the positioning control is completed after the positioning
data is executed, and the LOOP control is not executed.
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