Mitsubishi Electric MR-J4-_GF, Instruction Manual

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6. SERVO MOTOR DRIVING
6 - 55
2) Incremental value command method ([Pr. PT01] = _ _ _ 1)
Setting "1" to the auxiliary function executes positioning at the speed set in the subsequent 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.
Dwell
[ms] (Note 1)
Auxiliary function Varying-speed operation
1 0 1
Consecutive point table data 2 0 1
3
Disabled 0 (Note 2)
4 0 1
Consecutive point table data 5 0 1
6
Disabled 0 (Note 2)
Note 1. Be sure to set "0".
2. Be sure to set "0" to the auxiliary function of the last point table of the
consecutive point tables.
The following shows an operation example with the set values listed in the table below.
Point table
No.
Position data
[10
STM
μ m]
Servo motor
speed [r/min]
Acceleration
time constant
[ms]
Deceleration
time constant
[ms]
Dwell
[ms] (Note 1)
Auxiliary
function
1 5.00 3000.00 100 150 0 1
2 3.00 2000.00 Disabled Disabled 0 1
3 2.00 1000.00 Disabled Disabled 0 1
4 6.00 500.00 Disabled Disabled Disabled 0 (Note 2)
Note 1. Be sure to set "0".
2. Be sure to set "0" to the auxiliary function of the last point table of the consecutive point tables.
Servo motor speed
Forward rotation
0 r/min
Reverse rotation
Position address
Target point table
Controlword bit 4
(New set-point)
ON
OFF
Point actual value
Speed
(3000.00)
Acceleration time constant
(100) of point table No. 1 Deceleration time constant
(150) of point table No. 1
Speed
(2000.00)
Speed
(1000.00)
6.00
0 5.00 8.00 10.00
1
1
Speed
(500.00)
5.00 3.00 2.00
16.00