Filter
Top Products
4 - 13
4. OPERATION
4.5.2 Automatic operation using point table
(1) One-time positioning operation
(a) Absolute value command system
1) Point table
Set the point table values using the MR Configurator or the MR-PRU03 parameter unit.
Set the position data, motor speed, acceleration time constant, deceleration time constant, dwell,
auxiliary function and M code to the point table. The following table gives a setting example.
Name Setting range Unit Description
Position data 999999 to 999999 10
STM
m
(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 moving distance. A "-" sign indicates a reverse rotation command.
Motor speed 0 to permissible speed r/min
Set the command speed of the servo motor for execution of positioning.
The setting should be equal to or less than the instantaneous permissible
speed of the servo motor.
Acceleration
time constant
0 to 20000 ms
Set the time until the rated speed of the servo motor is reached.
Deceleration
time constant
0 to 20000 ms
Set the time until the servo motor running at rated speed comes to a stop.
Dwell 0 to 20000 ms
When the dwell is set, the position command of the selected point table is
completed, and after the set dwell has elapsed, 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 speed change
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" in point table No.255 results in an error.
For full information, refer to (2) in this section.
M code 00 to 99
The first and second digits of the M code respectively are output in 4-bit
binary.
2) Parameter setting
Set the following parameters to perform automatic operation.
Select the absolute value command system with parameter No.PA01 (Control mode).
0
Absolute value command system (initial value)
Parameter No. PA01