Mitsubishi Electric MR-JE-C, Instruction Manual

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12. WHEN USING WITH A GENERAL-PURPOSE INTERFACE
12 - 54
(2) Automatic operation using the point table
(a) 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.
1) 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, auxiliary function, and M code in 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 a value out of the range is set in the point table, the value will be clamped with the
maximum or minimum of the setting 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)
×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
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 sub function.
To perform a continuous operation, set "1", "3", "8", "9", "10", or "11" in the
auxiliary function and "0" in the dwell.
Setting the dwell completes the position command of the selected point table,
and then starts the position command of the next point table after the set dwell
has elapsed.
Auxiliary
function
0 to 3, 8 to 11
Set the auxiliary function.
(1) When using this point table with the absolute value command method
0: Automatic operation for one selected point table is performed.
1: Automatic operation for the next point table is performed.
8: Automatic operation for the point table selected at the start is performed.
9: Automatic operation for the point table No. 1 is performed.
(2) When using this point table with the incremental value command method
2: Automatic operation for one selected point table is performed.
3: Automatic operation for the next point table is performed.
10: Automatic operation for the point table selected at the start is performed.
11: Automatic operation for the 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.
For details, refer to section 12.5.2 (2) (c) 2).
M code 0 to 99
Set a code to output at the completion of positioning.
M code can be read with M code actual value (2D6Ah).
Note. When the unit of the position data is μm or inch, the location of the decimal point is changed according to the STM setting.