Mitsubishi Electric FATEC MELSEC iQ-R Training Manual page 34

Main functions
Speed, position switching control
Position-speed switching control
Current Value
Change
Other controls
NOP instruction
JUMP instruction
LOOP
LEND
Block start (normal start)
Conditional start
Wait start
Simultaneous start
Repeated start (FOR loop)
Repeated start (FOR condition)
First, carries out speed control, and then carries out position
control (positioning with designated address or movement
amount) by turning the "speed-position switching signal" ON.
First, carries out position control, and then carries out speed
control (continuous output of the command corresponding to the
designated command speed) by turning the "position-speed
switching signal" ON.
Changes the feed current value ([Md.20]) to the address set in
the positioning data.
The following two methods can be used. (The machine feed
value ([Md.21]) cannot be changed.)
• Current value changing using positioning data
• Current value changing using current value changing start No.
(No. 9003)
No execution control method. When NOP instruction is set, this
instruction is not executed and the operation of the next data is
started.
Unconditionally or conditionally jumps to designated positioning
data No.
Carries out loop control with repeated LOOP to LEND.
Returns to the beginning of the loop control with repeated LOOP
to LEND.
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 the control until the
condition is established. (Waits.)
Simultaneously executes the designated positioning data of the
axis designated with the "condition data". (Outputs commands 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.
3-9
Details