Mitsubishi Electric MELSERVO-JN Series Instruction Manual page 382

13. POSITIONING MODE
(2) Detailed description of commands
(a) Positioning conditions (SPN, STA, STB, STC, STD)
The "SPN", "STA", "STB", "STC" and "STD" commands are valid when the "MOV" and "MOVA"
commands are executed. The set values remain valid until they are reset.
1) Program example 1
When operation is to be performed in two patterns that have the same servo motor speed,
acceleration time constant and deceleration time constant but different move commands.
Program
SPN(1000)
STA(200)
STB(300)
MOV(1000)
TIM(100)
MOV(2000)
STOP
Forward
rotation
Servo motor
speed
2) Program example 2
When operation is to be performed in two patterns that have different servo motor speeds,
acceleration time constants, deceleration time constants and move commands.
Program
SPN(1000)
STA(200)
STB(300)
MOV(1000)
TIM(100)
SPN(500)
STC(200)
MOV(1500)
STOP
Forward
rotation
Servo motor
speed
Speed (Motor speed)
Acceleration time constant
Deceleration time constant
Absolute move command
Dwell command time
Absolute move command
Program end
b) Acceleration
time constant
(200ms)
a) Servo motor
speed
(1000r/min)
0r/min
d) Absolute
move command
(1000 10
Speed (Motor speed)
Acceleration time constant
Deceleration time constant
Absolute move command
Dwell command time
Speed (Motor Speed)
Acceleration/deceleration time constant
Absolute move command
Program end
b) Acceleration
time constant
(200ms)
a) Servo motor
speed
(1000r/min)
0r/min
d) Absolute
move command
(1000 10
Description
1000[r/min]
200[ms]
300[ms]
1000[×10
100[ms]
2000[×10
c) Deceleration b) Acceleration
time constant time constant
(300ms) (200ms)
e) Dwell command
time (100ms)
m)
STM
Description
1000[r/min]
200[ms]
300[ms]
1000[×10
100[ms]
500[r/min]
200[ms]
1500[×10
c) Deceleration
time constant
(300ms)
e) Dwell command
m)
STM time (100ms)
13 - 31
a)
b)
c)
STM μm] d)
e)
STM μm] f)
c) Deceleration
time constant
(300ms)
a) Servo motor
speed
(1000r/min)
f) Absolute
move command
(2000 10 m)
STM
a)
b)
c)
μm] d)
STM
e)
f)
g)
μm] h)
STM
g) Acceleration
time constant
(200ms)
f) Servo motor
speed (500r/min)
h) Absolute move
command
(1500 10 m)
STM