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Chapter 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.
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 No.
Operation pattern Control system Conditions Operation
1 Continuous control ABS2
Executed in the order of
the positioning data No. 1
2 3 4 5
2
3 4 5 6.
(The operation patterns of
the positioning data Nos.
2 and 5 are ignored.)
2 Positioning complete LOOP
Number of loop
cycles: 2
3 Continuous path control ABS2
4 Continuous control ABS2
5 Positioning complete LEND
6 Positioning complete ABS2
Positioning data setting examples
[When "LEND" is set in positioning data No. 8 of axis 1]
Setting item
Setting example
Setting details
QD77MS2
QD77MS4
QD77MS16
Axis 1 Positioning data No. 1
[Da.1]
Operation pattern – Setting not required. (Setting value is ignored.)
[Da.2]
Control system LEND Set the LEND.
[Da.3]
Acceleration time No. –
Setting not required. (Setting value is ignored.)
[Da.4]
Deceleration time No. –
[Da.5]
A
xis to be interpolated
QD77MS2 QD77MS4
–
[Da.6]
Positioning address/
movement amount
–
[Da.7]
Arc address –
[Da.8]
Command speed –
[Da.9]
Dwell time/JUMP
destination
positioning data No.
–
[Da.10]
M code/Condition
data No./Number of
LOOP to LEND
repetitions
–
[Da.20]
A
xis to be interpolated
No.1
QD77MS16
–
[Da.21]
A
xis to be interpolated
No.2
QD77MS16
–
[Da.22]
A
xis to be interpolated
No.3
QD77MS16
–
(Note): Refer to Section 5.3 "List of positioning data" for information on the setting details.