Mitsubishi MR-JE-100A, Инструкция по эксплуатации

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5. HOW TO USE THE PROGRAM
5 - 9
Command Name Setting Setting range Unit
Indirect
specification
(Note 7)
Description
FOR
NEXT
Step
repeat
command
FOR (setting
value)
NEXT
0, 1 to 10000 times
The steps between the "FOR (Setting value)"
and the "NEXT" commands are repeated for
the set number of times.
Setting "0" repeats the operation endlessly.
Do not describe another set of "FOR" and
"NEXT" command between the "FOR" and
"NEXT" commands. Otherwise, an error
occurs.
LPOS
(Note 1)
Current
position
Latch
LPOS
Latch the current position at the rising edge of
LPS (Current position latch).
The latched current position data can be read
with communication commands.
When the servo motor starts rotating, the
latched position varies according to the motor
speed and the sampling of input signals.
TIM Dwell
TIM (setting
value)
1 to 20000 ms
Waits for the next step until the set time
elapses.
ZRT
Home
position
return
ZRT Performs a manual home position return.
TIMES
Program
count
command
TIMES
(setting
value)
0, 1 to 10000 times
Set the number of program executions by
writing "TIMES (setting value)" command at
the start of the program. To execute the
program only one time, no setting is required.
Setting "0" repeats the operation endlessly.
STOP
Program
stop
STOP
Stop the running program.
Make sure to describe this command in the
final line.
TLP
(Note 8)
Forward
rotation torque
limit
TLP (setting
value)
0, 1 to 1000 0.1 %
Using the maximum torque as 100%, limit the
generated torque of the servo motor in the
CCW power running or CW regeneration.
The setting value is enabled until the program
stops.
Specifying the setting value to "0" enables the
[Pr. PA11] setting.
TLN
(Note 8)
Reverse
rotation torque
limit
TLN (setting
value)
0, 1 to 1000 0.1 %
Using the maximum torque as 100%, limit the
generated torque of the servo motor in the CW
power running or CCW regeneration.
The setting value is enabled until the program
stops.
Specifying the setting value to "0" enables the
[Pr. PA12] setting.
TQL
(Note 8)
Torque limit
TQL (setting
value)
0, 1 to 1000 0.1 %
Using the maximum torque as 100%, limit the
generated torque of the servo motor.
The setting value is enabled until the program
stops.
Specifying the setting value to "0" enables the
[Pr. PA11] and [Pr. PA12] settings.