YASKAWA SGD7S-R70A Product Manual page 115

7.3 Program Table Operation
7.3.7 Program Table Operation Examples
Specifying SEL Signals as Events
In this example, SEL signals are specified as the end conditions for the program steps.
Step 0 ends 2 seconds after the /SEL0 signal turns ON after positioning is completed.
Step 1 ends 2 seconds after the /SEL1 signal turns ON after positioning is completed.
The program table for this positioning is shown below.
PGM-
STEP
0
1
• Operating Procedure

Turn ON the /MODE 0/1 signal to change to mode 0.

Set the /SEL0 to /SEL4 signals to 0 to specify program step 0.

Turn ON the /START-STOP signal to start program table operation.
The /COIN signal turns OFF and the /POUT0 signal turns ON.

When positioning is completed to the target position, the /COIN signal turns ON.

The /SEL0 signal turns ON.

After a wait time of 2 seconds, execution of the program step specified with the NEXT set-
ting (program step 1) is executed.
The /COIN signal turns OFF and the /POUT1 signal turns ON.

When positioning is completed to the target position, the /COIN signal turns ON.

The /SEL1 signal turns ON.

After a wait time of 2 seconds, program step 1 is executed again.
The /COIN signal turns OFF.

When positioning is completed to the target position, the /COIN signal turns ON.
The /SEL1 signal turns ON.
11
After a wait time of 2 seconds, execution of the program step specified with the NEXT set-
12
ting (program step 0) is executed.
The /COIN and /POUT1 signals turn OFF and the /POUT0 signal turns ON.
Steps 4 to 12 are repeated.
13
• 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.
7-34
POS SPD RDST
I+200000 15000 –
I-200000 30000 –
tep 0
peed
Mode 0 (Program Table Operation)
1 m min.
1 m min.
0
1
RSPD ACC DEC
1000 400000 200000 NNNNA SEL0T2000
1000 400000 200000 NNNAN SEL1T2000
tep 1
2 2
1 m min.
1 m min.
1 m min.
1 0 2
2
POUT EVENT LOOP
tep 1 tep 0
2
1 m min.
1 m min. 1 m min.
0 2 0
1
NEXT
1 1
2 0
Time