Mitsubishi Electric R16MTCPU Programming Manual page 346

■No.160: Restart continuation
Restart continuation
[G190]
#100==0 //Is a continuation point 0?
P0
[G151]
//Did you turn on X4?
X4
[F189]
#100=10 //Continuation point=10
P10
[K150:Real]
1 ABS-2
Axis 1,
Axis 2,
Vector speed 500000 pulse/s
[G195]
//Did you turn on 1 axis and
//2 axes positioning completion?
M2401*M2421
[F190]
#100=20 //Continuation point=20
P20
[G154]
//Did you turn on 1 axis and
//2 axes in-position signal?
M2402*M2422
[F150]
#0L=1000000//1 axis positioning
//address set
#2L=2000000//2 axes positioning
//address set
#4L=500000//Positioning speed set
APPENDICES APPENDIX
344
Appendix 2 Sample Program
[G191]
#100==10 //Is a continuation
//point 10?
The process is started corresponding to the value of
#100 (continuation point) from each point of P0 to P30.
For the continuation
from P10
The motion control step
executed absolute positioning
0 pulse
to application when
0 pulse
to start again after it stops
on the way.
This program is judged by
using the positioning
completion signal whether
it was stopped during the
positioning on the way.
(When it stops on the way,
a switchover is stopped in
this program clear step
stop complete.)
For the continuation
from P20
[G192]
#100==20 //Is a continuation
//point 20?
P10
[K151:Real]
1 ABS-2
Axis 1, # 0 pulse
Axis 2, # 2 pulse
Vector speed
[G195]
//Did you turn on 1 axis and
//2 axes positioning completion?
M2401*M2421
[F191]
#100=30 //Continuation point=30
[G156]
//Did you turn on X4?
!X4
[F193]
#100=0 //Continuation point=0
[G193]
#100==30 //Is a continuation
//point 30?
P20
# 4 pulse/s
For the continuation
from P30
P30
"0" is set on #100
(Continuation point)
and it jumps in P0.
P0
P30