Mitsubishi Electric MELSERVO-JN Series Instruction Manual page 380

General-purpose ac servo, general purpose interface servo amplifier/motor
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13. POSITIONING MODE
13.4.2 Programming language
The maximum number of program steps is 120. Though up to 8 programs can be created, the total number of
each program steps is up to 120.
The set program can be selected using point table No./program No. selection 1 (DI0) to point table
No./program No. selection 3 (DI2).
(1) Command list
Command
Name
SPN
Speed (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/de
(Note
celeration time
2, 5)
constant
Absolute move
MOV
command
Absolute
continuous
MOVA
move
command
Incremental
MOVI
move
command
Incremental
continuous
MOVIA
move
command
Waiting
SYNC
external signal
(Note 1)
to switch on
OUTON
External signal
(Note
ON output
1, 3)
Setting
Setting range
0 to
SPN
instantaneous
(Setting
permissible
value)
speed
STA
(Setting
0 to 20000
value)
STB
(Setting
0 to 20000
value)
STC
(Setting
0 to 20000
value)
STD
(Setting
0 to 100
value)
MOV
-999999 to
(Setting
×10
999999
value)
MOVA
-999999 to
(Setting
×10
999999
value)
MOVI
-999999 to
(Setting
×10
999999
value)
MOVIA
-999999 to
(Setting
×10
999999
value)
SYNC
(Setting
1
value)
OUTON
(Setting
1
value)
Unit
Used to set the command speed of the servo motor for positioning.
The set value should be equal to or less than the instantaneous
r/min
permissible speed of the servo motor.
Used to set the acceleration time constant.
The set value is the time in which the servo motor reaches the rated
ms
speed from a stop.
It cannot be changed during command output.
Used to set the deceleration time constant.
The set value is the time in which the servo motor stops from the
ms
rated speed.
It cannot be changed during command output.
Used to set the acceleration/deceleration time constants.
The set value is the time in which the servo motor reaches the rated
speed from a stop or stops from the rated speed.
When this command is used, the acceleration time constant and
ms
deceleration time constant are equal.
"STA" and "STB" commands can set the acceleration time constant
and deceleration time constant individually.
It cannot be changed during command output.
Used to set the S-pattern acceleration/deceleration time constant.
Set this command when inserting an S-pattern
ms
acceleration/deceleration time constant for the
acceleration/deceleration time constant of the program.
The set value is regarded as an absolute value for movement.
STM
μm
The set value is regarded as an absolute value for continuous
movement. Use it with a "MOV" command in order of "MOV" and
μm
STM
"MOVA". Writing this command before "MOV" causes an error.
The set value is regarded as an incremental value for movement.
STM
μm
The set value is regarded as an incremental value for movement.
Use it with a "MOVI" command in order of "MOVI" and "MOVIA".
STM
μm
Writing this command before "MOVI" causes an error.
Stops the next step until program input 1 (PI1) turns ON after the
output of SYNC synchronous output (SOUT).
Turns ON program output 1 (OUT1).
By setting the ON time with parameter No. PE14, the signal can
also be turned OFF in the preset time.
13 - 29
Description

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