Mitsubishi Electric MELSERVO-JN Series, Instruction Manual

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13. POSITIONING MODE
13.4.2 Programming language
The maximum number of program steps is 120. Though up to 8 programs can be created, the total number of
each program steps is up to 120.
The set program can be selected using point table No./program No. selection 1 (DI0) to point table
No./program No. selection 3 (DI2).
(1) Command list
Command Name Setting Setting range Unit Description
SPN
(Note 2) Speed (Motor
speed)
SPN
(Setting
value)
0 to
instantaneous
permissible
speed
r/min
Used to set the command speed of the servo motor for positioning.
The set value should be equal to or less than the instantaneous
permissible speed of the servo motor.
STA
(Note 2) Acceleration
time constant
STA
(Setting
value)
0 to 20000 ms
Used to set the acceleration time constant.
The set value is the time in which the servo motor reaches the rated
speed from a stop.
It cannot be changed during command output.
STB
(Note 2) Deceleration
time constant
STB
(Setting
value)
0 to 20000 ms
Used to set the deceleration time constant.
The set value is the time in which the servo motor stops from the
rated speed.
It cannot be changed during command output.
STC
(Note 2)
Acceleration/
deceleration
time constant STC
(Setting
value)
0 to 20000 ms
Used to set the acceleration/deceleration time constants.
The set value is the time in which the servo motor reaches the rated
speed from a stop or stops from the rated speed.
When this command is used, the acceleration time constant and
deceleration time constant are equal.
"STA" and "STB" commands can set the acceleration time constant
and deceleration time constant individually.
It cannot be changed during command output.
STD
(Note
2, 5)
S-pattern
acceleration/de
celeration time
constant
STD
(Setting
value)
0 to 100 ms
Used to set the S-pattern acceleration/deceleration time constant.
Set this command when inserting an S-pattern
acceleration/deceleration time constant for the
acceleration/deceleration time constant of the program.
MOV
Absolute move
command
MOV
(Setting
value)
-999999 to
999999
×10 STM μm
The set value is regarded as an absolute value for movement.
MOVA
Absolute
continuous
move
command
MOVA
(Setting
value)
-999999 to
999999
×10 STM μm
The set value is regarded as an absolute value for continuous
movement. Use it with a "MOV" command in order of "MOV" and
"MOVA". Writing this command before "MOV" causes an error.
MOVI
Incremental
move
command MOVI
(Setting
value)
-999999 to
999999
×10 STM μm
The set value is regarded as an incremental value for movement.
MOVIA
Incremental
continuous
move
command
MOVIA
(Setting
value)
-999999 to
999999
×10 STM μm
The set value is regarded as an incremental value for movement.
Use it with a "MOVI" command in order of "MOVI" and "MOVIA".
Writing this command before "MOVI" causes an error.
SYNC
(Note 1)
Waiting
external signal
to switch on SYNC
(Setting
value)
1
Stops the next step until program input 1 (PI1) turns ON after the
output of SYNC synchronous output (SOUT).
OUTON
(Note
1, 3)
External signal
ON output
OUTON
(Setting
value)
1
Turns ON program output 1 (OUT1).
By setting the ON time with parameter No. PE14, the signal can
also be turned OFF in the preset time.