Lend - Mitsubishi Electric MELSEC iQ-R Series User Manual

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.
The following table shows the operation when the positioning complete (00) is set to LOOP and LEND.
Positioning data No.
1
2
3
4
5
6
Setting positioning data
When using the LEND, set the following positioning data.
: Always set, : Set as required, : Setting not required
Setting item
[Da.1] Operation pattern
[Da.2] Control method
[Da.3] Acceleration time No.
[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/Number of pitches
[Da.20] Axis to be interpolated No.1
[Da.21] Axis to be interpolated No.2
[Da.22] Axis to be interpolated No.3
[Da.27] M code ON signal output timing
[Da.28] ABS direction in degrees
[Da.29] Interpolation speed designation method
Refer to the following for information on the setting details.
Page 452 Positioning data
Restrictions
• Ignore the "LEND" before the "LOOP" is executed.
• 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.
3 MAJOR POSITIONING CONTROL
136
3.2 Setting the Positioning Data
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Operation Control
pattern method
Continuous ABS2
control
Positioning LOOP
complete
Continuous path ABS2
control
Continuous ABS2
control
Positioning LEND
complete
Positioning ABS2
complete
search engine
Conditions Operation
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
Number of loop
ignored.)
cycles: 2
Setting required/not required


(Set the LEND.)












