Mitsubishi MR-JE-40A - Timing Chart of the Program Operation

5. HOW TO USE THE PROGRAM
5 - 32
5.2.4 Timing chart of the program operation
(1) Operation condition
The following shows a timing chart when the program below is executed after the home position return
completion under the absolute value command method.
Program No. Description
SPN (1000) Servo motor speed 1000 [r/min]
STC (100) Acceleration/deceleration time constant 100 [ms]
MOV (5000) Absolute value travel command 5000 [×10
STM
μm]
Travel command 1
SYNC (1) Suspend the step until PI1 (Program input 1) is switched on.
STC (50) Acceleration/deceleration time constant 50 [ms]
MOV (7500) Absolute value travel command 7500 [×10
STM
μm]
Travel command 2
STOP Program stop
Program No. Description
SPN (1000) Servo motor speed 1000 [r/min]
STC (100) Acceleration/deceleration time constant 100 [ms]
MOV (2500) Absolute value travel command 2500 [×10
STM
μm]
Travel command 3
SYNC (1) Suspend the step until PI1 (Program input 1) is switched on.
STC (50) Acceleration/deceleration time constant 50 [ms]
MOV (5000) Absolute value travel command 5000 [×10
STM
μm]
Travel command 4
STOP Program stop
(2) Timing chart
ON
OFF
SON (Servo-on)
ON
OFF
ST1 (Forward rotation start)
ON
OFF
Program No.
MD0
(Operation mode selection 1)
ON
OFF
PED (Position end)
PI1 (Program input 1)
ON
OFF
ON
OFF
ON
OFF
RD (Ready)
A
LM (Malfunction)
3 ms or
shorter
3 ms or
shorter
Travel
command 2
3 ms or
shorter
3 ms or
shorter
Travel
command 4
3 ms or
longer
(Note)
5 ms or longer
5 ms or longer 5 ms or longer
Travel
command 1
Travel
command 3
Servo motor
speed
5 ms or longer
12
Reverse rotation
0 r/min
Forward rotation
3 ms or
longer
(Note)
Note. The detection of external input signals is delayed by the time set in the input filter setting of [Pr. PD29]. Considering the output
signal sequence from the controller and signal variations due to hardware, configure a sequence that changes the program
selection earlier.