Program Language - Mitsubishi MR-JE-200A Instruction Manual

5. HOW TO USE THE PROGRAM

5.2.2 Program language

The maximum number of steps of a program is 480. Up to 16 programs can be created; however, the total
number of the steps of all programs must be 480 or less.
A set program is selectable by using DI0 (Program No. selection 1) to DI3 (Program No. selection 4).
(1) Command list
Command Name
SPN Servo motor
(Note 2) speed
STA Acceleration
(Note 2) time constant
STB Deceleration
(Note 2) time constant
Acceleration/
STC
deceleration
(Note 2)
time constant
S-pattern
STD acceleration/
(Note 2, 5) deceleration
time constant
Absolute
MOV value travel
command
Absolute
value
MOVA continuous
travel
command
Setting Setting range
0 to permissible
SPN (Setting
instantaneous
value)
speed
STA (Setting
0 to 20000
value)
STB (Setting
0 to 20000
value)
STC (setting
0 to 20000
value)
STD (Setting
0 to 1000
value)
MOV -999999
(setting
to 999999
value)
(Note 6)
-999999
MOVA
(setting
to 999999
value)
(Note 6)
Indirect
Unit specification
(Note 7)
Set the servo motor command speed for
positioning.
The setting value must be the permissible
3000
instantaneous speed or less of the servo
r/min
motor used.
If the setting value is unspecified, the servo
motor rotates at 50 r/min.
Set the acceleration time constant. The setting
value is a time period which the servo motor
takes from a stop to 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 a time period which the servo motor
takes from the rated speed to a stop.
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 which the
servo motor takes from a stop to the rated
speed, and from the rated speed to a stop.
When this command is used, the same value
is applied for both the acceleration time
constant and the deceleration time constant.
ms
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.
Set this command to insert S-pattern
ms
acceleration/deceleration time constants to the
acceleration/deceleration time constants of the
program.
×10 μm The servo motor rotates using the set value as
STM
(Note 6) the absolute value.
The servo motor rotates continuously using
×10 μm the set value as the absolute value. Make sure
STM
(Note 6) to describe this command after the "MOV"
command.
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Description