Mitsubishi Electronics MR-MC210 ユーザーズマニュアル
5 - 6
5. OPERATIONAL FUNCTIONS
5.3 Automatic operation
5.3.1 Summary
Automatic operation (positioning) uses the point table for operation. Position data and feed speed designation
is set in the point table. When the fast start operation signal (FST) is turned on, instructions are executed in
order from the instruction set at the start point number to the end point number. If automatic operation is
started prior to completion of home position return (home position return request (ZREQ) is ON), a home
position return not complete error (operation alarm 90, detail 01) occurs upon starting operation and the
operation stops.
is set in the point table. When the fast start operation signal (FST) is turned on, instructions are executed in
order from the instruction set at the start point number to the end point number. If automatic operation is
started prior to completion of home position return (home position return request (ZREQ) is ON), a home
position return not complete error (operation alarm 90, detail 01) occurs upon starting operation and the
operation stops.
POINT
The first point number for each of the axis point tables is 0000h.
The first point number for each of the axis point tables can be designated
using point number offset. Refer to Section 10.8 concerning point number
offset.
offset.
Point table
Point
Position data
[Command units]
Feed speed
[Speed units]
(Note)
Acceleration time
constant [ms]
(Note)
Deceleration time
constant [ms]
(Note)
Dwell/pre
dwell [ms]
Auxiliary
command
Other axes
start
specification
S-curve
ratio [%]
Reserved
4 bytes
4 bytes
2 bytes
2 bytes
2 bytes
2 bytes
4 bytes
1 bytes
11 bytes
0000 2000
2000
20
30
0 0000h
00000000h
0 0
0001 5000
2000
30
50
0 0000h
00000000h
0 0
: :
:
:
: :
: : :
:
Note. Time specified by the acceleration constant, the deceleration constant and the dwell are rounded off based on the control cycle.
(The value is rounded to the nearest integer.)
For example, the dwell is specified to 10ms with the control cycle of 0.88ms, the time until executing point is completed after the
completion of the point movement is 11 control cycles (approx. 9.778ms).
For example, the dwell is specified to 10ms with the control cycle of 0.88ms, the time until executing point is completed after the
completion of the point movement is 11 control cycles (approx. 9.778ms).
Speed
0
1
2
0
Positioning complete
(PF)
(PF)
(Note)
Rough match (CPO)
Rough match (CPO)
sscAutoStart function
sscWaitIntDriveFin function/
sscGetDriveFinStatusfunction
sscGetDriveFinStatusfunction
Start of operation
Stops after moving
to the end point
position.
to the end point
position.
Rough match
output limits
(parameter No.
0230, 0231)
output limits
(parameter No.
0230, 0231)
ON
OFF
OFF
ON
OFF
OFF
ON
OFF
OFF
ON
OFF
OFF
ON
OFF
OFF
Fast Start operation
(FST)
(FST)
Completion of
operation (OPF)
operation (OPF)
Automatic operation
mode (AUT)
mode (AUT)
Operation point number
Note. The rough match signal (CPO) is determined when the end point is executed. Therefore, it does not turn on when passing points
on the way.