Lend - Mitsubishi Electric MELSEC iQ-R-RD75P4 User Manual

LEND

The operation is returned to the head of the repeating loop (LOOP to LEND).
Operation
The loop is completed when the number of repetition specified in LOOP is 0 and the processing of the next positioning data
No. is executed. (Even if the operation pattern is set to Positioning complete, the setting is ignored.)
To stop the operation after the execution for the specified number of repetition, set a dummy positioning data (for example, the
positioning in the incremental system whose movement amount is 0).
The following table shows the operation for when Positioning complete (00) is set to LOOP and LEND.
Positioning data Operation pattern
No.
1 Continuous control
2 Positioning complete
3 Continuous path control
4 Continuous control
5 Positioning complete
6 Positioning complete
Positioning data to be set
To use the LEND instruction, 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.5] Axis to be interpolated
[Da.6] Positioning address/movement amount
[Da.7] Arc address
[Da.8] Command speed
[Da.9] Dwell time
[Da.10] M code
[Da.27] M code ON signal output timing
[Da.28] ABS direction in degrees
[Da.29] Interpolation speed specification method
For details on the settings, refer to the following.
Page 420 Positioning Data
Restrictions
• The LEND before the execution of LOOP is ignored.
• If the operation pattern Positioning complete is set between LOOP and LEND, the positioning control is completed after the
execution of that positioning data and the loop control is not performed.
Control Condition
method
ABS2
LOOP Loop count: 2
ABS2
ABS2
LEND
ABS2
Setting requirement

 (Set LEND.)











Operation
Positioning data is executed in the order of No.1  2  3 
4  5  2  3  4  5  6.
(The operation patterns of the positioning data No.2 and 5
are ignored.)
3 MAJOR POSITIONING CONTROL
3.2 Positioning Data Setting
3
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