YASKAWA E-7S SERVOPACK SGD7S Product Manual page 440

Specifying the Next Step to Execute in the NEXT Setting
In this example, repeated positioning is performed using program steps 0 and 1.
Step 0 performs relative positioning for 300,000 reference units at a speed of 15,000,000 refer-
ences units/min. The acceleration rate is 400,000,000 reference units/min/ms and the deceler-
ation rate is 200,000,000 reference units/min/ms.
Step 1 performs relative positioning for -400,000 reference units at a speed of 20,000,000 ref-
erences units/min. The acceleration rate is 500,000,000 reference units/min/ms and the decel-
eration rate is 250,000,000 reference units/min/ms.
The program table for this positioning is shown below.
PGM-
POS SPD
STEP
0 I+300000 15000
1 I-400000 20000
• Operating Procedure

Turn ON the /MODE 0/1 signal to change to mode 0.

Set the /SEL0 to /SEL7 signals to 0 to specify program step 0.

Turn ON the /START-STOP signal to start program table operation.
The /INPOSITION signal turns OFF and the /POUT0 signal turns ON.

When positioning is completed to the target position, the /INPOSITION signal turns ON.

After a wait time of 1 second, execution of the program step specified with the NEXT set-
ting (program step 1) is executed.
The /INPOSITION and POUT0 signals turn OFF and the /POUT1 signal turns ON.

When positioning is completed to the target position, the /INPOSITION signal turns ON.

After a wait time of 2 seconds, execution of the program step specified with the NEXT set-
ting (program step 0) is executed.

Steps 4 to 7 are repeated.
• Operation Pattern and Related Signal Timing
Speed
Operation
Pattern
/MODE 0/1
4 ms min.
/START-STOP*
2 ms min.
/SEL0 to
/SEL7*
/INPOSITION
/POUT0 to
/POUT7
*
Do not change /SEL0 to /SEL7 for 4 ms after turning ON the /START-STOP signal.
RDST RSPD ACC
– 1000 400000
– 1000 500000
Step 0
1 s
Step 1
Mode 0 (Program Table Operation)
1
13.3 Program Table Operation
13.3.8 Program Table Operation Examples
DEC POUT EVENT
200000 NNNNNNNA IT1000
250000 NNNNNNAN IT2000
2 s
Step 0
0
2
LOOP NEXT
1 1
1 0
1 s
Time
13
1
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