Lend - Mitsubishi MELSEC QD75P User Manual

9 MAJOR POSITIONING CONTROL

9.2.23 LEND

The LEND is used to return the operation to the top of the repeat (LOOP to LEND)
loop.
Setting item
Da.1 Operation pattern
Da.2 Control system
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
Refer to Section 5.3 "List of positioning data" for information on the setting details.
Operation
When the repeat cycle designated by the LOOP becomes 0, the loop is
terminated, and the next positioning data No. processing is started. (The operation
pattern, if set to "Positioning complete", will be ignored.)
When the operation is stopped after the repeat operation is executed by
designated cycles, the dummy positioning data (for example, incremental
positioning without movement amount) is set next to LEND.
Positioning data
Operation pattern
No.
1 Continuous control
Positioning
2
complete
Continuous path
3
control
4 Continuous control
Positioning
5
complete
Positioning
6
complete
Positioning data setting examples
The following table shows the setting examples when "LEND" is set in positioning
data No. 8 of axis 1.
Setting example
– Setting not required. (Setting value is ignored.)

LEND

Set the LEND.
– Setting not required. (Setting value is ignored.)
– Setting not required. (Setting value is ignored.)
– Setting not required. (Setting value is ignored.)
– Setting not required. (Setting value is ignored.)
– Setting not required. (Setting value is ignored.)
– Setting not required. (Setting value is ignored.)
– Setting not required. (Setting value is ignored.)
– Setting not required. (Setting value is ignored.)
Restrictions
(1) Ignore the "LEND" before the "LOOP" is executed.
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Control system
ABS2
LOOP
ABS2
ABS2
LEND
ABS2
Setting details
9 - 114
MELSEC-Q
Conditions Operation
Executed in the
order of the
Number of loop
positioning data
cycles: 2
No. 1 2
4 5 2
4 5 6.
(The operation
patterns of the
positioning data
Nos. 2 and 5 are
ignored.)
3
3