13 - 19
13. POSITIONING MODE
13.3.2 Automatic operation using point table
(1) One-time positioning operation
(a) Absolute value command system
1) Point table
Set the point table values by using set up software(MR Configurator2
TM
) or the operation section.
Set the position data (target position), servo motor speed, acceleration time constant, deceleration
time constant, dwell and auxiliary function in the point table.
Setting "0" or "1" in the auxiliary function sets the point table to the absolute value command system.
Setting "2" or "3" in the auxiliary function sets the point table to the incremental value command
system.
Item
Setting range
Unit
Description
Position data
(Target Position)
-999999 to 999999
×10
STM
μm
(1) When using this point table as absolute value command system,
set the target address (absolute value).
(2) When using this point table as incremental value command system,
set the travel distance. A "-" sign indicates a reverse rotation command.
Number of decimal places changes according to STM (
Feel length
multiplication
)
Rotation speed
0 ~ allowable
actuator speed
r/min
Sets the command rotation speed (
Motor rotations/min
) when positioning is
executed.
Acceleration time
constant
0 to 20000
ms
Set the time until the servo motor reaches to the rated speed.
(3000 r/min)
Deceleration time
constant
0 to 20000
ms
Set the time until the servo motor stops from the rated speed.
(3000 r/min
Dwell
0 to 20000
ms
When dwell is set and the set dwell has passed after the position command of
the selected point table is completed, the position command of the next point
table is started.
Set "0" in the auxiliary function to make the dwell invalid.
Set "1" in the auxiliary function and 0 in the dwell to perform varied speed
operation.
Auxiliary function 0 to 3
(1) When using this point table in the absolute value command system
0: Automatic operation is performed in accordance with a single point table
chosen.
1: Operation is performed in accordance with consecutive point tables
without a stop.
(2) When using this point table in the incremental value command system
2: Automatic operation is performed in accordance with a single point table
chosen.
3: Operation is performed in accordance with consecutive point tables
without a stop.
When a different rotation direction is set, smoothing zero (command output) is
confirmed and the rotation direction is then reversed.
Setting "1" or "3" in point table No. 7 results in an error.
(Refer to paragraph (2) of this section.)
