Mitsubishi Electronics MR-J2S- CL specifications Operation, 2Program example, 3Program example

4. OPERATION

2)Program example 2

When operation is to be performed in two patterns that have different servo motor speeds, acceleration time constants, deceleration time constants and move commands.

Program

Description

SPN (1000)

Speed (Motor speed)

1000 [r/min]

a)

STA (200)

Acceleration time constant

200 [ms]

b)

STB (300)

Deceleration time constant

300 [ms]

c)

MOV (1000)

Absolute move command

1000 [ 10STM

m]

d)

TIM (10)

Dwell command time

100 [ms]

e)

SPN (500)

Speed (Motor Speed)

500 [r/min]

f)

STC (200)

Acceleration/deceleration time constant

200 [ms]

g)

MOV (1500)

Absolute move command

1500 [

10STM

m]

h)

STOP

Program end

b) Acceleration time

c) Deceleration time

constant (200ms)

constant (300ms)

g) Acceleration/

deceleration time

Forward

a) Speed

constant

(200ms)

rotation

(Motor speed)

(1000r/min)

f) Speed (Motor speed)

Servo motor

0r/min

(500r/min)

speed

d) Absolute move command

h) Absolute move command

(1000

10STM m)

e) Dwell command

time (100ms)

(1500

10STM

m)

3)Program example 3

Use of an S-pattern acceleration/deceleration time constant allows sudden operation to be eased at the time of acceleration and deceleration. When the "STD" command is used, parameter No. 14 (S-pattern acceleration/deceleration time constant) is ignored.

Program	Description
SPN (1000)	Speed (Motor speed)	1000	[r/min]	a)
STC (100)	Acceleration/deceleration time constant	1000	[ms]	b)
STD (10)	S-pattern acceleration/deceleration time constant	10 [ms]		c)
MOV (2000)	Absolute move command	2000	[ 10STM	m] d)
STOP	Program end

c)		c)
b) Acceleration/deceleration		b) Acceleration/deceleration
time constant		time constant
(1000ms)	a) Speed	(1000ms)
Forward	(Motor speed)
	(1000r/min)	d) Absolute move command
rotation		(2000	10STM	m)
Servo motor 0r/min
speed
c) S-pattern acceleration/		c)
deceleration time
constant (10ms)

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