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Chapter 10 High-Level Positioning Control
10.3.6 Repeated start (FOR loop)
In a "repeated start (FOR loop)", the data between the "block start data" in which "4:
FOR loop" is set in "[Da.13] Special start instruction" and the "block start data" in which
"6: NEXT start" is set in "[Da.13] Special start instruction " is repeatedly executed for
the number of times set in "[Da.14] Parameter". An endless loop will result if the
number of repetitions is set to "0".
(The number of repetitions is set in "[Da.14] Parameter" of the "block start data" in
which "4: FOR loop" is set in "[Da.13] Special start instruction".)
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 4: FOR loop 2
2nd point 1: Continue 10 0: Block start –
3rd point 0: End 50 6: NEXT 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 00: Positioning complete
50 01: Continuous positioning control
51 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> Execute the axis 1 "positioning data No.1, 2, 3, 10, 11, 50, and 51".
<2> Return to the axis 1 "1st point block start data". Again execute the axis 1
"positioning data No.1, 2, 3, 10, 11, 50 and 51", and then stop the control.
(Repeat for the number of times (2 times) set in [Da.14].)