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Chapter 10 High-Level Positioning Control
10.1.1 Data required for high-level positioning control
"High-level positioning control" is executed by setting the required items in the "block
start data" and "condition data", then starting that "block start data". Judgment about
whether execution is possible, etc., is carried out at execution using the "condition
data" designated in the "block start data".
"Block start data" can be set for each No. from 7000 to 7004 (called "block Nos."), and
up to 50 points can be set for each axis. (This data is controlled with Nos. called
"points" to distinguish it from the positioning data. For example, the 1st block start data
item is called the "1st point block start data" or "point No. 1 block start data".)
"Condition data" can be set for each No. from 7000 to 7004 (called "block Nos."), and
up to 10 data items can be set for each axis.
The "block start data" and "condition data" are set as 1 set for each block No.
The following table shows an outline of the "block start data" and "condition data"
stored in the Simple Motion module.
Setting item Setting details
Block start data
[Da.11] Shape
Set whether to end the control after executing only the "block
start data" of the shape itself, or continue executing the "block
start data" set in the next point.
[Da.12] Start data No. Set the "positioning data No." to be executed.
[Da.13] Special start instruction
Set the method by which the positioning data set in [Da.12] will
be started.
[Da.14] Parameter
Set the conditions by which the start will be executed according
to the commands set in [Da.13]. (Designate the "condition data
No." and "Number of repetitions".)
Setting item Setting details
Condition data
[Da.15] Condition target
Designate the "device", "buffer memory storage details", and
"positioning data No." elements for which the conditions are set.
[Da.16] Condition operator
Set the judgment method carried out for the target set in [Da.15].
[Da.17] Address
Set the buffer memory address in which condition judgment is
carried out (only when the details set in [Da.15] are "buffer
memory storage details").
[Da.18] Parameter 1
Set the required conditions according to the details set in
[Da.15], [Da.16] and [Da.23]
QD77MS16
.
[Da.19] Parameter 2
[Da.23]
Number of
simultaneously
starting axes
QD77MS16
Set the number of axes to be started simultaneously in the
simultaneously start.
[Da.24]
Simultaneously
starting axis No.1
Set the simultaneously starting axis in the simultaneously start
on 2 to 4 axes.
[Da.25]
Simultaneously
starting axis No.2
[Da.26]
Simultaneously
starting axis No.3