YASKAWA E-7S SERVOPACK SGD7S Product Manual page 443

13.3 Program Table Operation
13.3.8 Program Table Operation Examples
As described below, operation is restarted even when the /START-STOP signal is turned ON
even during deceleration after the /START-STOP signal is turned OFF.
• Operating Procedure

Turn ON the /MODE 0/1 signal to change to mode 0.

Set the /SEL0 to /SEL7 signals to 4 (i.e., turn ON /SEL2) to specify program step 4.

Turn ON the /START-STOP signal to start program table operation.
The /INPOSITION signal turns OFF and the /POUT4 signal turns ON.

Turn OFF the /START-STOP signal to stop program table operation.

Turn ON the /START-STOP signal while the Servomotor is decelerating. Program table
operation is restarted.
The remaining travel distance will be executed.

When positioning is completed to the target position, the /INPOSITION signal turns ON.
• Operation Pattern and Related Signal Timing
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.
13-32
Speed
Mode 0 (Program Table Operation)
4 ms min.
2 ms min.
Step 4
16
Step 4
4
Time