Program Language - Mitsubishi Electric MELSERVO-J4 Instruction Manual

5. HOW TO USE THE PROGRAM

5.2.2 Program language

The maximum number of steps of a program is 640. Although you can create up to 256 programs, the
maximum number of steps of each program is 640.
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
(Note 2) speed
STA Acceleration time
(Note 2) constant
STB Deceleration time
(Note 2) constant
Acceleration/dec
STC
eleration time
(Note 2)
constant
S-pattern
STD
acceleration/dece
(Note 2,
leration time
5)
constant
Absolute value
MOV
travel command
Absolute value
MOVA continuous travel
command
Incremental value
MOVI
travel command
Incremental value
MOVIA continuous travel
command
SYNC External signal on
(Note 1) wait
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)
-999999
MOV (Setting
to 999999
value)
(Note 6)
-999999
MOV (Setting
to 999999
value)
(Note 6)
-999999
MOVI (Setting
to 999999
value)
(Note 6)
-999999
MOVIA (Setting
to 999999
value)
(Note 6)
SYNC (Setting
1 to 3
value)
Indirect
specif-
Unit
ication
(Note 7)
Set the servo motor speed for positioning using this
command.
r/min
The setting value must be the permissible instantaneous
or
speed or less of the servo motor used.
mm/s
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 the time from when the used servo
motor stops until when its speed reaches the rated
speed, or from when the motor rotates at the rated speed
until when the motor stops.
When this command is used, the acceleration time
ms
constant and the deceleration time constant become the
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
×10 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
×10 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
×10 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
×10 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
5 - 7
Description
Input signal
1 PI1 (Program input 1)
2 PI2 (Program input 2)
3 PI3 (Program input 3)