Mitsubishi Electric MELSERVO MR-J4-03A6-RJ, Instruction Manual

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5. HOW TO USE THE PROGRAM
5 - 21
6) Program example 6
Command Description
SPN (1000) Servo motor speed 1000 [r/min]
STC (20) Acceleration/deceleration time
constant 20 [ms]
MOVI (1000) Incremental value travel command 1000 [×10
STM
μ
m]
SYNC (1) Suspend the step until PI1 (Program input 1) is switched on.
TIM (200) Dwell 200 [ms] a)
MOVI (500) Incremental value travel command 500 [×10
STM
μ
m]
STOP Program stop
a) 200 ms
ON
OFF
PI1
(Program input 1)
Servo motor speed
Forward rotation
0 r/min
Reverse rotation
(e) Interrupt positioning (ITP)
POINT
For positioning with the "ITP" command, the stop position varies depending on
the servo motor speed when the "ITP" command becomes enabled.
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
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.
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