Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 363

CAUTION
When a skip is specified during continuous trajectory control and the axis which has no stroke range [degree] is included, the operation at the execution of skip
is described.
• If there is an ABS instruction after the skip in these conditions, the end positioning point and the travel distance in the program as a whole will be the same
regardless of whether the skip is executed or not.
(1) All instructions after the skip are INC instructions:
Program example
CPSTART1
Axis 1
Speed 10.000
INC-1
Axis 1, 180.00000
Skip M100
INC-1
Axis 1, 180.00000
INC-1
Axis 1, 270.00000
CPEND
(2) Instruction immediately after the skip is ABS instruction:
Program example
CPSTART1
Axis 1
Speed 10.000
INC-1
Axis 1, 180.00000
Skip M100
ABS-1
Axis 1, 350.00000
INC-1
Axis 1, 270.00000
CPEND
(3) Instruction immediately after the skip is INC instruction and there is ABS instruction after that:
Program example
CPSTART1
Axis 1
Speed
10.000
INC-1
Axis 1, 360.00000
Skip M100
INC-1
Axis 1, 180.00000
INC-1
Axis 1, 180.00000
ABS-1
90.00000
Axis 1,
CPEND
When skip is not executed
0 180
When skip is executed
0 100 280
When the skip occurs at 100 [degree]
When skip is not executed
0 180
When skip is executed
(The end positioning point is same regardless of whether the skip is executed or not.)
0 100
When the skip occurs at 100 [degree]
When skip is not executed
0 0
When skip is executed
(The end positioning point is same regardless of whether the skip is executed or not.)
0 80 260
When the skip occurs
at 80 [degree]
0 270 [degree]
190 [degree]
350 260 [degree]
350 260 [degree]
180 0 90 [degree]
80 90 [degree]
This point moves at 370 [degree],
not 10 [degree].
5 POSITIONING CONTROL
5.17 Continuous Trajectory Control
5
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