Mitsubishi Electronics MR-J2S- CL specifications Operation, eInterrupt positioning command ITP

4.OPERATION

(e)Interrupt positioning command (ITP)

POINT

When Interrupt positioning (ITP) is used for positioning, a stop position differs depending on the servo motor speed provided when the "ITP" command is enabled.

When the "ITP" command is used in a program, the axis stops at the position by the set value farther from the position where any of Program input 1 to 3 (PI1 to PI3) turned ON.

If the move command set with the "MOV", "MOVI", "MOVA" or "MOVIA" command is less than the set value of the "ITP (set value)" command, the program proceeds to the next step without executing the "ITP (set value)" command.

When using the "ITP" command, always place the "SYNC" command immediately before the "ITP" command.

1) Program example 1

Program		Description
SPN (500)	Speed (Motor speed)	500	[r/min]
STA (200)	Acceleration time constant	200	[ms]
STB (300)	Deceleration time constant	300	[ms]
MOV (600)	Absolute move command	600	[	10STM	m]
SPN (100)	Speed (Motor speed)	100	[r/min]
MOVA (600)	Absolute continuous move command	600	[	10STM	m]
SYNC (1)	Step is suspended until Program input (PI1) turns ON.				a)
ITP (200)	Interrupt positioning command	200	[	10STM	m] b)
STOP	Program end

Forward rotation

Servo motor

speed 0r/min

Program input1 ON

(PI1) OFF

P1

P1 b) (200 10STM m)

Waiting for PI1 to be turned ON by SYNC(1) (a))

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