Mitsubishi Electric MR-J4-_GF, Instruction Manual

Page: 95 / 274

6. SERVO MOTOR DRIVING
6 - 36
6.2.2 Automatic operation using point table
(1) 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.
(a) 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.
Item Setting range Unit Description
Position data
-999999 to 999999
(Note 1)
×10 STM µm
×10 (STM-4) inch
pulse
(1) When using this point table with the absolute value command method
Set the target address (absolute value).
(2) When using this point table with 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
(Note 2)
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.
If a value smaller than "1" is set for the servo motor speed, the servo motor may
not rotate.
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.
(1) When using the point table with 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.
(2) When using this point table with 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 section 6.2.6 (1) (b) for details.
Note 1. When the unit of the position data is μ m or inch, the location of the decimal point is changed according to the STM setting.
2. The unit will be mm/s in the linear servo motor control mode.