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5. STARTUP
(2) Incremental value command system
(a) Point table
Set the point table values using the MR Configurator, the MR-PRU03 parameter unit or the remote
register of CC-Link.
Set the position data, motor speed, acceleration time constant, deceleration time constant, dwell and
auxiliary function to the point table. The following table gives a setting example:
Name
Setting range
Position data
0 to 999999
Servo motor
0 to permissible speed
speed
Acceleration
0 to 20000
time constant
Deceleration
0 to 20000
time constant
Dwell
0 to 20000
Auxiliary
0
1
function
(b) Parameter setting
Set the following parameters to perform automatic operation:
1) Command mode selection (parameter No.PA01)
Select the incremental value command system.
Unit
Set the moving distance.
STM
10
m
The unit can be changed using feed length multiplication factor selection of
parameter No. PA05.
Set the command speed of the servo motor for execution of positioning.
r/min
The setting should be equal to or less than the instantaneous permissible
speed of the servo motor.
ms
Set the time until the rated speed of the servo motor is reached.
Set the time until the servo motor running at rated speed comes to a stop.
ms
This function is valid when the point table is selected using the input signal
or the remote input of CC-Link. It cannot be used when the point table No. is
selected using the remote register of CC-Link.
Set "0" in the auxiliary function to make the dwell invalid.
ms
Set "1" in the auxiliary function and 0 in the dwell to perform continuous
operation.
When the dwell is set, the position command of the selected point table is
completed, and after the set dwell has elapsed, the position command of the
next point table is started.
This function is valid when the point table is selected using the input signal
or the remote input of CC-Link. It cannot be used when the point table No. is
selected using the remote register of CC-Link.
0: Automatic operation is performed in accordance with a single point table
chosen.
1: Operation is performed in accordance with consecutive point tables
without a stop.
When a different rotation direction is set, smoothing zero (command
output) is confirmed and the rotation direction is then reversed.
Setting "1" in point table No.255 results in an error.
For full information, refer to (4) of this section.
Parameter No. PA01
1
Incremental value command system
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Description
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