YASKAWA SGD7S-R70A Product Manual page 119

7.3 Program Table Operation
7.3.7 Program Table Operation Examples
Turning ON the /RGRT Signal While Program Table
Operation Is Stopped
This example shows what happens when the /RGRT signal is turned ON while program table
operation is stopped after turning OFF the /START-STOP signal. In this case, registration oper-
ation is performed when the /START-STOP signal is turned ON.
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.

Turn OFF the /START-STOP signal to stop operation.

The /RGRT signal turns ON to specify registration operation.

Turn ON the /START-STOP signal to restart program table operation.
In this case, registration operation is performed.

The /COIN turns ON when positioning is completed for the registration distance.

When execution of program step 1 starts, 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.
• Operation Pattern and Related Signal Timing
Operation
Pattern
/MODE 0/1
TART- TOP*
/ EL0 to
/ EL4*
/RGRT
/COIN
*
Do not change /SEL0 to /SEL7 for 4 ms after turning ON the /START-STOP signal.
7-38
POS SPD RDST
I+200000 30000 100000
I-200000 30000 100000
peed
Mode 0 (Program Table Operation)
1 m min.
1 m min.
RSPD ACC DEC
15000 400000 200000 NNNNNNNN
15000 : :
tep 0
0
200
μ min.
POUT EVENT LOOP
IT0 1
: : : : : : : : IT0 1
tep 1
NEXT
1
END
Time