YASKAWA SGD7S-R70A Product Manual page 117

7.3 Program Table Operation
7.3.7 Program Table Operation Examples
Performing Registration
This example shows how to use the /RGRT signal during execution of a program step to
change to the specified speed and perform positioning for the specified distance.
Step 0 performs positioning for a travel distance (RDST) of 100,000 reference units when the /
RGRT signal turns ON.
The speed changes to 15,000,000 reference units/min (RSPD).
Step 1 performs positioning for a travel distance (RDST) of 100,000 reference units when the /
RGRT signal turns ON.
The speed changes to 15,000,000 reference units/min (RSPD).
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.

The /RGRT signal turns ON to perform registration operation.
The speed changes to the registration speed.

The /COIN turns ON when positioning is completed for the registration distance.

When execution of program step 1 starts, the /COIN signal turns OFF.
• Operation Pattern and Related Signal Timing
Operation
Pattern
/MODE 0/1
TART- TOP
/ EL0 to
/ EL4
*1
/RGRT
/COIN
*1.
Do not change /SEL0 to /SEL7 for 4 ms after turning ON the /START-STOP signal.
*2.
Pn635 = n.0 (Registration is started by changing the input signal from OFF (open) to ON (closed)): 20 μs
min.
Pn635 = n.1 (Registration is started by changing the input signal from ON (closed) to OFF (open)): 200 μs
min.
*3.
The /RGRT signal is ignored during registration operation.
7-36
POS SPD RDST
I+200000 30000 100000
I-200000 30000 100000
tep 0
peed
Mode 0 (Program Table Operation)
1 m min.
*1
1 m min.
RSPD ACC DEC
15000 400000 200000 NNNNNNNN
15000 :
tep 1
8 m max.
*2
*3
POUT EVENT
IT0
: : : : : : : : : IT0
tep 0
0
LOOP NEXT
1 1
1 0
Time