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Chapter 10 High-Level Positioning Control
10.1 Outline of high-level positioning control
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
Details
Block
(Note-1)
start
(Normal start)
With one start, executes the positioning data in a random block with the set order.
Condition start
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.
Wait start
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.)
Simultaneous start
(Note-2)
Simultaneously executes the positioning data having the No. for the axis designated
with the "condition data". (Outputs command at the same timing.)
Repeated start (FOR
loop)
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.
Repeated start (FOR
condition)
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.
High-level positioning control sub functions
"High-level positioning control" uses the "positioning data" set with the "major
positioning control". Refer to Section 3.2.5 "Combination of QD77MS main
functions and sub functions" for details on sub functions that can be combined with
the major positioning control.
Note that the sub function Section 13.7.7 "Pre-reading start function" cannot be
used together with "high-level positioning control".
High-level positioning control from GX Works2
"High-level positioning control" (start of the "block start data") can be executed
using the test function of GX Works2.
Refer to the "Simple Motion Module Setting Tool Help" of GX Works2 for details on
starting of the "block start data" using GX Works2.
REMARK
(Note-1): Block
"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
the "[Da.1] Operation pattern" to the positioning data in which "independent
positioning control (Positioning complete)" is set.
(Note-2): Simultaneous start
Besides the simultaneous start of "block start data" system, the
"simultaneous starts" include the "multiple axes simultaneous start control"
of control system.
Refer to Section 10.5 "Multiple axes simultaneous start control" for details.