YASKAWA SGD7S-R70A Product Manual page 109

7.3 Program Table Operation
7.3.7 Program Table Operation Examples
Specifying the Program Steps to Execute One at a Time
In this example, the program table contains steps 0 to 4, but only program steps 3 and 4 are
executed.
Step 3 performs relative positioning for 100,000 reference units at a speed of 15,000,000 refer-
ences units/min. The acceleration/deceleration rates that are set in Pn63E (Acceleration Rate)
and Pn640 (Deceleration Rate) are used.
Step 4 performs relative positioning for 200,000 reference units at a speed of 30,000,000 refer-
ences units/min with the same acceleration/deceleration rates as step 3.
The program table for this positioning is shown below.
PGM-
STEP
0
1
2
3
4
• Operating Procedure

Turn ON the /MODE 0/1 signal to change to mode 0.

Set the /SEL0 to /SEL4 signals to 3 (i.e., turn ON /SEL0 and /SEL1) to specify program
step 3.

Turn ON the /START-STOP signal to start program table operation.
The /COIN signal turns OFF and the /POUT3 signal turns ON.

When positioning is completed to the target position, the /COIN signal turns ON.

Turn OFF the /START-STOP signal.

Set the /SEL0 to /SEL4 signals to 4 (turn ON /SEL2) to specify program step 4.

Turn ON the /START-STOP signal to start program table operation.
The /POUT4 signal turns ON.

When positioning is completed to the target position, the /COIN signal turns ON.
• Operation Pattern and Related Signal Timing
Operation
Pattern
/MODE 0/1
/ TART- TOP*
/ EL0 to
/ EL4*
/COIN
/POUT0 to
/POUT4
*
Do not change /SEL0 to /SEL7 for 4 ms after turning ON the /START-STOP signal.
7-28
POS SPD RDST
I+100000 15000 –
A+100000 15000 –
I+300000 15000 –
I+100000 15000 –
I+200000 30000 –
peed
tep
Mode 0 (Program Table Operation)
1 m min.
1 m min.
RSPD ACC DEC
1000 : :
1000 : :
1000 : :
1000 : :
1000 : :
1 m min.
8
POUT EVENT LOOP
NNNNA IT2000 1
NNNAN IT2000 1
NNANN IT2000 1
NANNN IT2000 1
ANNNN IT2000 1
tep 4
0 m min.
4
16
NEXT
END
END
END
END
END
Time