Chapter 4 High-Level Positioning Control; Outline Of High-Level Positioning Control - Mitsubishi Electric MELSEC iQ-R Series User Manual

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HIGH-LEVEL POSITIONING CONTROL
The details and usage of high-level positioning control (control functions using the "block start data") are explained in this
chapter.
High-level positioning control is used to carry out applied control using the "positioning data". Examples of applied control are
using conditional judgment to control "positioning data" set with the major positioning control, or simultaneously starting
"positioning data" for several different axes.
Read the execution procedures and settings for each control, and set as required.
4.1
In "high-level positioning control" the execution order and execution conditions of the "positioning data" are set to carry out
more applied positioning. (The execution order and execution conditions are set in the "block start data" and "condition data".)
The following applied positioning controls can be carried out with "high-level positioning control".
High-level positioning
control
*1
Block start (Normal Start)
Condition Start
Wait Start
*2
Simultaneous Start
Repeated start (FOR Loop)
Repeated start (FOR
Condition)
*1 "1 block" is defined as all the data continuing from the positioning data in which "continuous positioning control" or "continuous path
control" is set in "[Da.1] Operation pattern" to the positioning data in which "independent positioning control (Positioning complete)" is
set.
*2 Besides the simultaneous start of "block start data" system, the "simultaneous starts" include the "multiple axes simultaneous start
control" of control method. Refer to the following for details.
Page 25 Multiple axes simultaneous start
High-level positioning control sub functions
"High-level positioning control" uses the "positioning data" set with the "major positioning control". Refer to "Combination of
Main Function and Sub Function" in the following manual for details on "sub functions" that can be combined with the main
functions.
MELSEC iQ-R Motion Module User's Manual (Startup)
Note that the pre-reading start function cannot be used together with "high-level positioning control".
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Outline of High-level Positioning Control

Description
With one start, executes the positioning data in a random block with the set order.
Carries out condition judgment set in the "condition data" for the designated positioning data, and then executes the "block
start data".
• When the condition is established, the "block start data" is executed.
• When not established, that "block start data" is ignored, and the next point's "block start data" is executed.
Carries out condition judgment set in the "condition data" for the designated positioning data, and then executes the "block
start data".
• When the condition is established, the "block start data" is executed.
• When not established, stops (waits) the control until the condition is established.
Simultaneously executes the designated positioning data of the axis designated with the "condition data". (Outputs command
at the same timing.)
Repeats the program from the "block start data" set with the "FOR Loop" to the "block start data" set in "NEXT" for the
designated number of times.
Repeats the program from the "block start data" set with the "FOR Condition" to the "block start data" set in "NEXT" until the
conditions set in the "condition data" are established.
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4 HIGH-LEVEL POSITIONING CONTROL
4.1 Outline of High-level Positioning Control
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