Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 344

■Repetition control operation
The repetition control operation using FOR-TIMES, FOR-ON and FOR-OFF is shown below.
<K 701>
CPSTART2
Axis 1
Axis 2
Speed
ABS-2
Axis 1,
Axis 2,
(1)
INC-2
Axis 1,
Axis 2,
INC-2
Axis 1,
Axis 2,
NEXT
CPEND
(1) (2)
Condition 1
FOR-TIMES K1
X010  ON during first positioning (3)
FOR-ON
X011  OFF during first positioning (3)
FOR-OFF
Axis 2
50000
Operation in condition 1
0
Precautions
• During a FOR-ON loop, or a FOR-OFF loop, if the travel value of the specified pass point is smaller than the travel value of
one operation cycle shown below, it will not loop-out even when trigger conditions are satisfied. To perform a loop-out,
make the travel value of the pass point larger than the travel value of one operation cycle, or set a smaller speed command.
The travel value for which positioning is completed in one operation cycle is shown below.
Travel value of one operation cycle [control unit] = Command speed per second [control unit/s]  Operation cycle [s]
Ex.
Command speed: 100.00 [mm/min], Operation cycle: 0.444 [ms]
100
[mm/s] × 0.444 [ms] = 0.74 [μm]
60
If the travel value of the pass point exceeds 0.74 [m], it will loop-out normally.
5 POSITIONING CONTROL
342
5.17 Continuous Trajectory Control
1000
40000
20000
(2)
30000
0
(3)
20000
20000
Operation in condition 3
Operation in condition 2
100000
Condition 2
K2
X010  ON during second positioning (3)
X011  OFF during second positioning (3)
Repeat (3)
200000
Condition 3
K3
X010  ON during third positioning (3)
X011  OFF during third positioning (3)
Axis 1