Pass Point Skip Function - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

Pass point skip function

This function stops positioning to executing point and executes positioning to next point, by setting a skip signal toward each
pass point for continuous trajectory control.
Setting data
■Skip signal devices
A bit device (or a specified bit in a word device) can be used.
Refer to the following for the setting range of usable devices.
MELSEC iQ-R Motion controller Programming Manual (Common)
Precautions
• When an absolute circular interpolation or absolute helical interpolation is specified to since point since the skip signal
specified point, set the absolute linear interpolation between them. If it does not set, it may occur an error and stop.
• If a skip signal is inputted at the end point, a deceleration stop occurs at that point and the program is ended.
Program example
<K 0>
CPSTART2
Axis 1
Axis 2
Speed
10000
ABS-2
Axis 1,
100000
Axis 2,
200000
Speed
10000
Skip
ABS-2
200000
Axis 1,
200000
Axis 2,
Speed 15000
CPEND
5 POSITIONING CONTROL
360
5.17 Continuous Trajectory Control
V
M200 Servo program
start
Start accept
Skip signal
(M200)
Point 1
Skip
positioning
processing
Skip signal
No skip
t