Mitsubishi Electric MELSERVO-MR-J4 GF Series Instruction Manual page 125

■Incremental value command method ([Pr. PT01] = _ _ _ 1)
Setting "1" to the auxiliary function executes positioning at the speed set in the point table.
At this time, the position data selected at start is enabled, and the acceleration/deceleration time constant set in the next and
subsequent point tables is disabled.
By setting "1" to auxiliary functions until point table No. 254, the operation can be performed at maximum 255 speeds.
Be sure to set "0" to the auxiliary function of the last point table.
To perform varying-speed operation, be sure to set "0" to the dwell.
Setting "1" or more enables the automatic continuous positioning operation.
The following table shows an example of setting.
Point table No.
1
2
3
4
5
6
*1 Always set "0".
*2 Always set "0" to the auxiliary function of the last point table among the consecutive point tables.
The following shows an operation example with the set values listed in the table below.
Point table No. Position data
STM
[10 μm]
1 5.00
2 3.00
3 2.00
4 6.00
*1 Always set "0".
*2 Always set "0" to the auxiliary function of the last point table among the consecutive point tables.
Controlword bit 4
(New set-point)
Target point table
Forward
rotation
Servo motor speed 0 r/min
Reverse
rotation
Position address
INP/S_INP
(In-position)
Status DO 5 bit 5
(S_CPO (Rough match))
Status DO 5 bit 6
(S_MEND (Travel completion))
Point actual value
*1
Dwell [ms]
0
0
Disabled
0
0
Disabled
Servo motor Acceleration
speed [r/min] time constant
[ms]
3000.00 100
2000.00 Disabled
1000.00 Disabled
500.00 Disabled
ON
OFF
Acceleration time constant
of point table No. 1 (100)
Speed
(3000.00)
5.00
0
ON
OFF
ON
OFF
ON
OFF
Auxiliary function
1
1
*2
0
1
1
*2
0
Deceleration
time constant
[ms]
150
Disabled
Disabled
Disabled
1
Deceleration time constant
of point table No. 1 (150)
Speed
(1000.00)
Speed
(2000.00)
3.00 2.00
5.00 8.00 10.00
Varying-speed operation
Consecutive point table data
Consecutive point table data
*1
Dwell [ms] Auxiliary
function
0 1
0 1
0 1
*2
Disabled 0
Speed
(500.00)
6.00
16.00
1
6 SERVO MOTOR DRIVING
6.2 Point table mode (pt)
6
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