Program Table Operation Examples - YASKAWA E-7S SERVOPACK SGD7S Product Manual

13.3.8

Program Table Operation Examples

This section provides the following 12 examples to show the timing of the I/O signals related to
program table operation.
In the following examples, it is assumed that an homing has been completed to define the ori-
gin.
Refer to the following section for a timing chart from when the power supply to the equipment
is turned ON until homing is completed when an incremental encoder is used.
13.2
Homing
No.
1 Specifying the Program Steps to Execute One at a Time
2 Specifying the Next Step to Execute in the NEXT Setting
3 Specifying the Number of Times to Execute a Program Step
4 Pausing Program Table Operation
5 Outputting POUT Signals for the Specified Time
6 Specifying SEL Signals as Events
7 Combining Positioning with Constant-Speed Operation
8 Performing Registration
9 Pausing Registration
10 Turning ON the /RGRT Signal While Program Table Operation Is Stopped
11 Using Consecutive Stops
12 Resetting Program Table Operation
Specifying the Program Steps to Execute One at a Time
In this example, the program table contains steps 0 to 5, but only program steps 3 and 5 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 PnB29 and PnB2B are
used.
Step 5 performs relative positioning for 300,000 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.
PGMSTEP POS
0 I+100000
1 A+100000
2 I+300000
3 I+100000
4 I+200000
5 I+300000
on page 13-4
Item
SPD RDST RSPD
15000 – 1000
15000 – 1000
15000 – 1000
15000 – 1000
30000 – 1000
30000 – 1000
13.3 Program Table Operation

13.3.8 Program Table Operation Examples

ACC DEC POUT
: : NNNNNNNA IT2000
: : NNNNNNAN IT2000
: : NNNNNANN IT2000
: : NNNNANNN IT2000
: : NNNANNNN IT2000
: : NNANNNNN IT2000
Reference
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EVENT LOOP NEXT
1 END
1 END
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1 END
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