Mitsubishi Electric MELSERVO-JN Series, Instruction Manual

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13. POSITIONING MODE
(e) Interrupt positioning command (ITP)
POINT
When interrupt positioning command (ITP) is used for positioning, a stop
position differs depending on the servo motor speed provided when the "ITP"
command is enabled.
In the following cases, the program does not execute the "ITP" command and
proceeds to the step.
When the remaining distance is equal to or less than the travel distance
specified by the "ITP" command
While the servo motor is decelerating
When the "ITP" command is used in a program, the axis stops at the position by the set value farther
from the position where any of program input 1 (PI1) turned ON.
When using the "ITP" command, always place the "SYNC" command immediately before the "ITP"
command.
1) Program example 1
Program Description
SPN(500)
STA(200)
STB(300)
MOV(600)
SPN(100)
MOVA(600) Speed (Motor speed)
Acceleration time constant
Deceleration time constant
Absolute move command
Speed (Motor speed)
Continuous move command 500[r/min]
200[ms]
300[ms]
600[×10
STM μm]
100[r/min]
600[×10
STM μm]
SYNC(1) Step is suspended until program input (PI1) turns ON. a)
b)
ITP(200)
STOP Interrupt positioning command
Program end 200[×10 STM μm]
0r/min
Servo motor
speed
Program input 1
(PI1)
ON
OFF
P1
Waiting for PI1 to be turned
ON by SYNC (1) (a))
P1 + b) (200 10
STM
m)
Forward
rotation