YASKAWA E-7S SERVOPACK SGD7S Product Manual page 441

13.3 Program Table Operation
13.3.8 Program Table Operation Examples
Specifying the Number of Times to Execute a Program Step
In this example, program step 0 is executed and then step 1 is executed three times.
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 number of loops for step 1 is set to 2.
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 /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 program step 1 is started twice.
The /INPOSITION signal turns OFF.

When positioning is completed to the target position, the /INPOSITION signal turns ON.

After a wait time of 2 seconds, execution of program step 1 is started a third time.
The /INPOSITION signal turns OFF.

When positioning is completed to the target position, the /INPOSITION signal turns ON.
After a wait time of 2 seconds, program table operation is ended and the /POUT1 signal
11
turns OFF.
• Operation Pattern and Related Signal Timing
Speed
Operation
Pattern
/MODE 0/1
/START-STOP*
/SEL0 to
/SEL7*
/INPOSITION
/POUT0 to
/POUT7
*
Do not change /SEL0 to /SEL7 for 4 ms after turning ON the /START-STOP signal.
13-30
POS SPD RDST
I+300000 15000 –
I-400000 20000 –
1 s
Step 0
Mode 0 (Program Table Operation)
4 ms min.
2 ms min.
1
RSPD ACC DEC
1000 400000 200000 NNNNNNNA IT1000
1000 500000 250000 NNNNNNAN IT2000
2 s
Step 1 Step 1
LOOP = 1 LOOP = 2
0
POUT EVENT LOOP
1
3
2 s
Step 1
LOOP = 3
2
NEXT
1
END
2 s
Time