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6 SERVO MOTOR DRIVING
6.2 Point table mode (pt)
Automatic operation using point table
Absolute value command method
This function is enabled by selecting either absolute position command method or incremental value command method with
the auxiliary function of the point table.
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Point table
Set the point table values using MR Configurator2 or "Point table 001 to 255".
Set the position data, servo motor speed, acceleration time constant, deceleration time constant, dwell time, and auxiliary
function to the point table.
To use the point table with the absolute position command method, set "0", "1", "8", or "9" to the auxiliary function. To use the
point table with the incremental value command method, set "2", "3", "10", or "11" to the auxiliary function.
When you set a value outside the setting range to the point table, the setting value will be clamped with the maximum or
minimum value. If the value becomes out of the range because of the changes in the command unit or the connected servo
motor, [AL. 37] will occur.
*1 When the unit of the position data is
m or inch, the location of the decimal point is changed according to the STM setting. The setting
range of the position data in degrees is -360.000 to 360.000.
*2 In the linear servo motor control mode, the unit is mm/s.
Item
Setting range
Unit
Description
Position data
-999999 to 999999
×10
STM
μ
m
×10
(STM-4)
inch
×10
-3
degree
pulse
• When using this point table under the absolute value command method
Set the target address (absolute value).
• When using this point table under the incremental value command method
Set the travel distance. A "-" sign indicates a reverse rotation command.
Servo motor speed
0 to permissible speed
0.01 r/min
0.01 mm/s
Set the command speed of the servo motor for execution of positioning.
The setting value must be equal to or less than the instantaneous permissible
speed of the servo motor used.
The fractional portion will be rounded down.
Acceleration time
constant
0 to 20000
ms
Set a time for the servo motor to reach the rated speed.
Deceleration time
constant
0 to 20000
ms
Set a time for the servo motor to stop from the rated speed.
Dwell
0 to 20000
ms
Set the dwell.
To disable the dwell, set "0" or "2" to the auxiliary function.
To perform a continuous operation, set "1", "3", "8", "9", "10", or "11" to the
auxiliary function and "0" to the dwell.
When the dwell is set, a positioning of the next point table will be started after the
positioning of the selected data is completed, and the set dwell has elapsed.
Auxiliary function
0 to 3, 8 to 11
Set the auxiliary function.
• When using this point table under the absolute value command method
0: Automatic operation for a selected point table is performed.
1: Automatic operation for the next point table is performed.
8: Automatic operation for a point table selected at start-up is performed.
9: Automatic operation for point table No. 1 is performed.
• When using this point table under the incremental value command method
2: Automatic operation for a selected point table is performed.
3: Automatic operation for the next point table is performed.
10: Automatic operation for a point table selected at start-up is performed.
11: Automatic operation for point table No. 1 is performed.
When an opposite rotation direction is set, the servo motor rotates in the
opposite direction after smoothing zero (command output) is confirmed.
Setting "1" or "3" to point table No. 255 results in an error.
Refer to the following for details.
