Specifications

Command Method
57
MR-J2S-CP (built-in positioning function) command method
The following two types of command methods are available.
(1) Absolute value command method: The axis moves to the address (absolute value)
based on the zero point.
Operating specification
Input positioning command
Input speed command
System
Operating specification
Input positioning command
Input speed command
System
Positions according to the specification of the point table No. (31 points)
Set in point table. Feed length for 1 point settable between ±1µm and ±999.999mm.
Set in point table. Acceleration/deceleration time is set in point table. S-curve acceleration/deceleration constant is set by parameter 14.
Signed absolute value command system, increment value command system, signed absolute value command/incremental value command specification system.
Positioning by RS-422 (RS-232C) communication data.
Setting by RS-422 (RS-232C) communication. Feed length for 1 point settable between ±1µm and ±999.999mm.
Setting by RS-422 (RS-232C) communication. Acceleration/deceleration time also set by RS-422 (RS-232C) communication.
S-curve acceleration/deceleration constant is set by parameter 14.
Signed absolute value command system, increment value command system, signed absolute value command/incremental value command specification system.
Item
Position data
Servomotor
speed
Acceleration time constant
Deceleration time constant
Dwell time
Auxiliary function
Setting range
–999999 to 999999
0 to permissible
0 to 20000
0 to 20000
0 to 20000
0 to 1
Unit
✕10
STM
µm
r/min
ms
ms
ms
—
Description
Sets the address. STM is the ratio to the data.
Sets the command speed for the servomotor used
for positioning.
Sets the acceleration time constant.
Sets the deceleration time constant.
Runs the next point table after the set dwell time.
0: Positions and stops (waits for start signal).
1: Continues operation for the next point table
without stopping.
Item
Position data
Servomotor
speed
Acceleration time constant
Deceleration time constant
Dwell time
Auxiliary function
Setting range
0 to 999999
0 to permissible
0 to 20000
0 to 20000
0 to 20000
0 to 1
Unit
✕10
STM
µm
r/min
ms
ms
ms
—
r/min
ms
ms
ms
—
✕10
STM
µm
Description
Set the movement amount.
Sets the command speed for the servomotor used
for positioning.
Sets the acceleration time constant.
Sets the deceleration time constant.
Runs the next point table after the set dwell time.
0: Positions and stops (waits for start signal).
1: Continues operation for the next point table
without stopping.
Sets the acceleration time constant.
Sets the deceleration time constant.
Runs the next point table after the set dwell time.
(Example of setting (1) point table data)
Point table: The following three types of point tables are available.
Point
table
No.
1000
2000
:
-1000
1
2
:
31
2000
1600
:
3000
200
100
:
100
200
100
:
100
0
0
:
0
1
0
:
0
Position
data
Servo-
motor
speed
Acceler-
ation time
constant
Deceler-
ation time
constant
Dwell
time
Auxiliary
function
If the point table No.1’s auxiliary function is 1, continuous
positioning is carried out based on the point table as shown
in the “●Auxiliary function 1” below.
If the point table No.1’s auxiliary function is 0, a start signal
must be issued as shown in “●Auxiliary function 0” below.
(2) Incremental value command method: The axis moves from the current value
according to the set position data
(Example of setting (2) point table data)
(3) Absolute value command/incremental command designation method: The absolute
value and incremental value are designated with the point table.
Setting range
–999999 to 999999
0 to permissible
0 to 20000
0 to 20000
0 to 20000
0 to 3
Description
• Using as the absolute value command method
Sets the address. STM is the ratio to the data.
•
Using as the incremental value command method
Set the movement amount. STM is the ratio to the data.
Sets the command speed for the servomotor used
for positioning.
• Using as the absolute value command method
0: Positions and stops (waits for start signal).
1:
Continues operation for the next point table without stopping.
• Using as the incremental value command method
2: Positions and stops (waits for start signal).
3:
Continues operation for the next point table without stopping.
(Example of setting (3) point table data)
●Auxiliary function 1
Speed
Position
address
0 1000 2000
point table
No.1
point table
No.2
Start signal
Position
address
Start signal
point table No.2
Incremental value
command
Position
address
Start signal
●Auxiliary function 0
Speed
0 1000 2000
●Auxiliary function 1 or 3
Speed
Position
address
Start signal
Speed
0 1000 2000
●Auxiliary function 0 or 2
0 1000 2000
Input point
table number
Input position
data
Point
table
No.
1000
1000
:
500
1
2
:
31
2000
1600
:
3000
200
100
:
100
200
100
:
100
0
0
:
0
1
0
:
0
Position
data
Servo-
motor
speed
Acceler-
ation time
constant
Deceler-
ation time
constant
Dwell
time
Auxiliary
function
If the point table No.1’s auxiliary function is 1, continuous
positioning is carried out based on the point table as shown
in the “●Auxiliary function 1” above.
If the point table No.1’s auxiliary function is 0, a start signal
must be issued as shown in “●Auxiliary function 0” above.
Point
table
No.
1000
1000
:
3000
1
2
:
31
2000
1600
:
3000
200
100
:
100
200
100
:
100
0
0
:
0
1
2
:
2
Position
data
Servo-
motor
speed
Acceler-
ation time
constant
Deceler-
ation time
constant
Dwell
time
Auxiliary
function
If the point table No.1’s auxiliary function is 1 or 3,
continuous positioning is carried out based on the point
table as shown in the “●Auxiliary function 1 or 3” below.
If the point table No.1’s auxiliary function is 0 or 2, a start
signal must be issued as shown in “●Auxiliary function 0 or
2” below.
point table
No.1
point table
No.2
Item
Position data
Servomotor speed
Acceleration time constant
Deceleration time constant
Dwell time
Auxiliary function
Unit
point table
No.1
Absolute value
command
point table No.2
Incremental value
command
point table
No.1
Absolute value
command