Mitsubishi Electric MELSERVO-J4 Instruction Manual page 180

5. HOW TO USE THE PROGRAM
6) Program example 6
Command
SPN (1000)
STC (20)
MOVI (1000)
SYNC (1)
TIM (200)
MOVI (500)
STOP
(e) Interrupt positioning (ITP)
When an "ITP" command is used in the program, starting from the position where PI1 (Program input
1) to PI3 (Program input 3) are switched on, the servo motor rotates a distance of the set value and
stops.
When using the "ITP" command, make sure to position the command preceding a "SYNC"
command.
Servo motor speed
Acceleration/deceleration time
constant
Incremental value travel command
Suspend the step until PI1 (Program input) is switched on.
Dwell
Incremental value travel command
Program stop
Forward
rotation
Servo motor speed
0 r/min
PI1
(Program input 1)
POINT
For positioning using the interrupt positioning (ITP), the stop position varies
depending on the servo motor speed when the "ITP" command becomes valid.
In the following cases, the program does not execute the "ITP" command and
proceeds to the next step.
When the setting value of the "ITP" command is smaller than that of the travel
command set by the "MOV", "MOVI", or "MOVA" command
When the remaining distance under the "ITP" command is equal to or less
than the travel distance under the "ITP" command
While the servo motor decelerates
Description
1000 [r/min]
20 [ms]
STM
1000 [×10 μm]
200 [ms]
STM
500 [×10 μm]
ON
OFF
5 - 21
a)
a) 200 ms