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9.2.22 LOOP ............................................................................................................................................. 9-130
9.2.23 LEND ............................................................................................................................................. 9-132
10. High-Level Positioning Control 10- 1 to 10-30
10.1 Outline of high-level positioning control .............................................................................................. 10- 2
10.1.1 Data required for high-level positioning control ............................................................................ 10- 3
10.1.2 "Block start data" and "condition data" configuration ................................................................... 10- 4
10.2 High-level positioning control execution procedure ............................................................................ 10- 6
10.3 Setting the block start data .................................................................................................................. 10- 7
10.3.1 Relation between various controls and block start data .............................................................. 10- 7
10.3.2 Block start (normal start) ............................................................................................................. 10- 8
10.3.3 Condition start ............................................................................................................................... 10-10
10.3.4 Wait start........................................................................................................................................ 10-11
10.3.5 Simultaneous start ....................................................................................................................... 10-12
10.3.6 Repeated start (FOR loop) .......................................................................................................... 10-13
10.3.7 Repeated start (FOR condition) .................................................................................................. 10-14
10.3.8 Restrictions when using the NEXT start ....................................................................................... 10-15
10.4 Setting the condition data .................................................................................................................... 10-16
10.4.1 Relation between various controls and the condition data .......................................................... 10-16
10.4.2 Condition data setting examples .................................................................................................. 10-19
10.5 Multiple axes simultaneous start control ............................................................................................. 10-21
10.6 Start program for high-level positioning control .................................................................................. 10-26
10.6.1 Starting high-level positioning control ........................................................................................... 10-26
10.6.2 Example of a start program for high-level positioning control ..................................................... 10-27
11. Manual Control 11- 1 to 11-32
11.1 Outline of manual control ................................................................................................................... 11- 2
11.1.1 Three manual control methods ..................................................................................................... 11- 2
11.2 JOG operation ...................................................................................................................................... 11- 4
11.2.1 Outline of JOG operation .............................................................................................................. 11- 4
11.2.2 JOG operation execution procedure ............................................................................................ 11- 7
11.2.3 Setting the required parameters for JOG operation ..................................................................... 11- 8
11.2.4 Creating start programs for JOG operation .................................................................................. 11-10
11.2.5 JOG operation example ................................................................................................................ 11-12
11.3 Inching operation .................................................................................................................................. 11-15
11.3.1 Outline of inching operation .......................................................................................................... 11-15
11.3.2 Inching operation execution procedure ........................................................................................ 11-18
11.3.3 Setting the required parameters for inching operation ................................................................ 11-19
11.3.4 Creating a program to enable/disable the inching operation ....................................................... 11-20
11.3.5 Inching operation example ............................................................................................................ 11-22
11.4 Manual pulse generator operation ....................................................................................................... 11-24
11.4.1 Outline of manual pulse generator operation ............................................................................... 11-24
11.4.2 Manual pulse generator operation execution procedure ............................................................. 11-28
11.4.3 Setting the required parameters for manual pulse generator operation ..................................... 11-29
11.4.4 Creating a program to enable/disable the manual pulse generator operation ............................ 11-30
12. Expansion Control 12- 1 to 12-34
12.1 Speed-torque control ........................................................................................................................... 12- 2
12.1.1 Outline of speed-torque control .................................................................................................... 12- 2