Lend - Mitsubishi Electric QD77MS User Manual

9.2.23 LEND

Setting item
[Da.1] Operation pattern
[Da.2] Control method
[Da.3] Acceleration time No.
[Da.4] Deceleration time No.
Axis to be interpolated
[Da.5]
QD77MS2 QD77MS4
Positioning address/
[Da.6]
movement amount
[Da.7] Arc address
[Da.8] Command speed
Dwell time/JUMP
destination
[Da.9]
positioning data No.
M code/Condition
data No./Number of
[Da.10]
LOOP to LEND
repetitions
Axis to be interpolated
[Da.20]
No.1
QD77MS16
Axis to be interpolated
[Da.21]
No.2
QD77MS16
Axis to be interpolated
[Da.22]
No.3
QD77MS16
(Note): Refer to Section 5.3 "List of positioning data" for information on the setting details.
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
Operation pattern
data No.
1 Continuous control
2 Positioning complete
3 Continuous path control
4 Continuous control
5 Positioning complete
6 Positioning complete
Positioning data setting examples
[When "LEND" is set in positioning data No. 8 of axis 1]
Setting example
QD77MS2
QD77MS16
QD77MS4
–
LEND
–
–
–
–
–
–
–
–
Control method
ABS2
LOOP
ABS2
ABS2
LEND
ABS2
Setting not required. (Setting value is ignored.)
Set the LEND.
Setting not required. (Setting value is ignored.)
–
–
–
9 - 132
Chapter 9 Major Positioning Control
Conditions
Executed in the order of
Number of loop
the positioning data No. 1
cycles: 2
2
2 3
(The operation patterns of
the positioning data Nos.
2 and 5 are ignored.)
Setting details
Operation
3 4 5
4 5 6.