Mitsubishi MR-JE-100A, Instruction Manual

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5. HOW TO USE THE PROGRAM
5 - 22
(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", "MOVA" or "MOVIA" command
When the remaining distance is equal to or less than the travel distance
specified by the "ITP" command
While the servo motor is decelerating
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 for a distance of the set value
and stops.
When using the "ITP" command, make sure to describe the "SYNC" command right before the "ITP"
command.
1) Program example 1
Command Description
SPN (500) Servo motor speed 500 [r/min]
STA (200) Acceleration time constant 200 [ms]
STB (300) Deceleration time constant 300 [ms]
MOV (600) Absolute value travel command 600 [×10 STM μ m]
SPN (100) Servo motor speed 100 [r/min]
MOVA (600) Continuous travel command 600 [×10
STM
μ m]
SYNC (1) Suspend the step until PI1 (Program input 1) is switched on. a)
ITP (200) Interrupt positioning 200 [×10
STM
μ m] b)
STOP Program stop
Waiting for PI1 on (a))
by SYNC (1)
P1
Servo motor
speed
ON
OFF
PI1
(Program input 1)
P1 + b) (200 × 10
STM
μ
m)
Reverse rotation
0 r/min
Forward rotation