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Chapter 10 High-Level Positioning Control
10.3.4 Wait start
In a "wait start", the "condition data" conditional judgment designated in "[Da.14]
Parameter" is carried out for the positioning data set in "[Da.12] Start data No.". If the
conditions have been established, the "block start data" is executed. If the conditions
have not been established, the control stops (waits) until the conditions are established.
Section [2] shows a control example where the "block start data" and "positioning data"
are set as shown in section [1].
[1] Setting examples
(1) Block start data setting example
Axis 1 block
start data
[Da.11]
Shape
[Da.12]
Start data No.
[Da.13]
Special start
instruction
[Da.14]
Parameter
1st point 1: Continue 1 2: Wait start 3
2nd point 1: Continue 10 0: Block start –
3rd point 0: End 50 0: Block start –
(Note): The "condition data Nos." have been set in "[Da.14] Parameter".
(2) Positioning data setting example
Axis 1 positioning
data No.
[Da.1]
Operation pattern
1 01: Continuous positioning control
2 01: Continuous positioning control
3 00: Positioning complete
10 11: Continuous path control
11 11: Continuous path control
12 00: Positioning complete
50 00: Positioning complete
[2] Control examples
The following shows the control executed when the "block start data" of the 1st
point of axis 1 is set as shown in section [1] and started.
<1> The conditional judgment set in "condition data No. 3" is carried out before
execution of the axis 1 "positioning data No. 1".
Conditions established
Execute positioning data No. 1, 2, and 3
Go to <2>.
Conditions not established
Control stops (waits) until conditions are
established
Go to <1>.
<2> Execute the axis 1 "positioning data No. 10, 11, 12, and 50" and stop the
control.