Program Language - Mitsubishi Electric MELSERVO-J4 Series Instruction Manual

5. HOW TO USE THE PROGRAM

5.2.2 Program language

The maximum number of steps of a program is 640. Up to 256 programs can be created; however, the total
number of the steps of all programs must be 640 or less.
A set program is selectable by using DI0 (Program No. selection 1) to DI7 (Program No. selection 8).
(1) Command list
Command Name
SPN Servo motor SPN
(Note 2) speed (Setting value)
STA Acceleration time STA
(Note 2) constant (Setting value)
STB Deceleration time STB
(Note 2) constant (Setting value)
Acceleration/
STC STC
deceleration time
(Note 2) (Setting value)
constant
S-pattern
STD
acceleration/ STD
(Note 2,
deceleration time (Setting value)
5)
constant
Absolute value MOV
MOV
travel command (Setting value)
Absolute value
MOV
MOVA continuous travel
(Setting value)
command
Incremental value MOVI
MOVI
travel command (Setting value)
Incremental value
MOVIA
MOVIA continuous travel
(Setting value)
command
SYNC External signal on SYNC
(Note 1) wait (Setting value)
Setting Setting range
0 to permissible
instantaneous
speed
0 to 20000
0 to 20000
0 to 20000
0 to 1000
-999999
×10
to 999999
(Note 6)
-999999
×10
to 999999
(Note 6)
-999999
×10
to 999999
(Note 6)
-999999
×10
to 999999
(Note 6)
1 to 3
5 - 7
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Indirect
specif-
Unit
ication
(Note 7)
Set the servo motor speed for positioning using this
command.
r/min
or The setting value must be the permissible instantaneous
mm/s speed or less of the servo motor used.
(Note 9)
If the setting value is unspecified, the servo motor rotates
at 50 r/min.
Set the acceleration time constant. The setting value is
the time from when the used servo motor stops until when
its speed reaches the rated speed.
ms
The value cannot be changed during a command output.
If the setting value is unspecified, 1000 ms is applied.
Set the deceleration time constant. The setting value is
the time from when the used servo motor rotates at the
rated speed until when the motor stops.
ms
The value cannot be changed during a command output.
If the setting value is unspecified, 1000 ms is applied.
Set the acceleration/deceleration time constants.
The setting value is a time period that the servo motor
reaches the rated speed from a stop, and stops from the
rated speed.
When this command is used, the acceleration time
constant and the deceleration time constant become the
ms
same.
To set the acceleration/deceleration time constants
individually, use the "STA" and "STB" commands.
The value cannot be changed during a command output.
If the setting value is unspecified, 1000 ms is applied.
Set the S-pattern acceleration/deceleration time
constants.
ms
Set this command to insert S-pattern
acceleration/deceleration time constants against the
acceleration/deceleration time constants of the program.
STM
μm
The servo motor rotates using the set value as the
(Note 6) absolute value.
The servo motor rotates continuously using the set value
STM
μm
as the absolute value. Make sure to describe this
(Note 6)
command after the "MOV" command.
The servo motor rotates using the set value as the
incremental value.
STM
μm
When a negative value is set, the servo motor rotates in
(Note 6) the reverse rotation direction.
For the reverse rotation, the servo motor rotates in the
address decreasing direction.
The servo motor rotates continuously using the set value
STM
μm
as the incremental value. Make sure to describe this
(Note 6)
command after the "MOVI" command.
The following steps stop after SOUT (SYNC synchronous
output) is output until PI1 (Program input 1) to PI3
(Program input 3) are switched on.
Setting value
1
2
3
Description
Input signal
PI1 (Program input 1)
PI2 (Program input 2)
PI3 (Program input 3)