Mitsubishi Electric MELSEC iQ-R Series User Manual page 473

[Da.13] Special start instruction
Set the "special start instruction" for using "high-level positioning control". (Set how to start the positioning data set in "[Da.12]
Start data No.".)
Setting value
00H: Block start (Normal Start)
01H: Condition Start
02H: Wait Start
03H: Simultaneous Start
04H: Repeated start (FOR Loop)
05H: Repeated start (FOR
Condition)
06H: NEXT Start
Refer to the following for details on the control.
Page 137 HIGH-LEVEL POSITIONING CONTROL
■Buffer memory address
Refer to the following for the buffer memory address in this area.
Page 406 Positioning data (Block start data)
[Da.14] Parameter
Set the value as required for "[Da.13] Special start instruction".
[Da.13] Special start
instruction
Block start (Normal Start)
Condition Start
Wait Start
Simultaneous Start
Repeated start (FOR Loop)
Repeated start (FOR Condition)
■Buffer memory address
Refer to the following for the buffer memory address in this area.
Page 406 Positioning data (Block start data)
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Setting details
Execute the random block positioning data in the set order with one start.
Carry out the condition judgment set in "condition data" for the designated positioning data, and when the conditions are
established, execute the "block start data". If not established, ignore that "block start data", and then execute the next
point's "block start data".
Carry out the condition judgment set in "condition data" for the designated positioning data, and when the conditions are
established, execute the "block start data". If not established, stop the control (wait) until the conditions are established.
Simultaneously execute (output command at same timing) the positioning data with the No. designated for the axis
designated in the "condition data". Up to four axes can start simultaneously.
Repeat the program from the block start data with the "FOR Loop" to the block start data with "NEXT" for the designated
number of times.
Repeat the program from the block start data with the "FOR Condition" to the block start data with "NEXT" until the
conditions set in the "condition data" are established.
Set the end of the repetition when "04H: Repetition start (FOR Loop)" or "05H: Repetition start (FOR Condition)" is set.
Setting Setting details
value
 Not used. (There is no need to set.)
1 to 10 Set the condition data No. (Data No. of "condition data" is set up for the condition judgment.) (Refer to
Page 472 Condition Data.)
0 to 255 Set the number of repetitions.
1 to 10 Set the condition data No. (Data No. of "condition data" is set up for the condition judgment.)
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12 DATA USED FOR POSITIONING CONTROL
12.5 Block Start Data
12
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