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13. POSITIONING MODE
13.4.5 Simple language for program operation
The available program operation simple language I is shown below in the "Program operation mode" of
the "Test" of the setup software (MR Configurator2
TM
).
Describe a program and insert a return (press the key) at the end of a line. Up to 300 lines may be
described.
Command
Name
Setting
Setting range
Unit
Description
SPN
Speed (Motor
speed)
SPN
(Setting
value)
0 to allowable
actuator
speed
r/min
Sets the command rotation speed (
Motor
rotations/min
) when positioning is executed.
STC
Acceleration/d
ecel-eration
time
STC
(Setting
value)
0 to 50000
ms
Used to set the acceleration/deceleration time.
Set the time until the servo motor reaches to the rated
speed.
(3000 r/min)
MOV
Move
command
MOV
(Setting
value)
-99999999 to
9999999
pulse
Used to execute movement by the preset pulses.
Positioning operation is performed with the set values
of the feedrate (SPN) and acceleration/deceleration
time (STC).
No symbol: CCW rotation, -: CW rotation
SYNC
Waiting
external signal
to switch on
SYNC(
Setting
value)
As listed in
the table at
right.
-
Used to hold the next operation until the preset digital
input signal (DI) of the servo amplifier switches on.
By setting 99, the next operation will be performed
unconditionally.
Set the input signal as listed below:
For the LECSA, the signal that is not assigned in signal
assignment in the position control mode of parameter
PD03 to PD14 is invalid if selected here.
Set Value
input device
0
SON
1
LSP
2
LSN
3
TL (Note)
4
-
5
PC
6
RES
7
CR
8
-
9
-
10
-
11
-
99
Unconditional
Note. Not available for the LECSA.
TIM
Dwell
command time
TIM(Set
ting
value)
1 to 50
s
Used to hold the next operation until the preset time
elapses.
TIMES
Program count
command
TIMES(
Setting
value)
1 to 9999
Times
Used to specify the number of cycles or times (from
TIMES to STOP) that the positioning is to be repeated.
Enter the TIMES (Setting value) at the beginning and
STOP at the end of a cycle.
Not required for one positioning cycle.
STOP
Program stop
STOP
-
-
Used to stop the program being executed.
Need not be described on the last line.
Please refer to Section 13.4.2 for commands that you can use the program method.
