YASKAWA E-7S SERVOPACK SGD7S Product Manual page 444

Outputting POUT Signals for the Specified Time
This example shows how to output the POUT signals in the next step for the specified length of
time after completing positioning for a program step.
Positioning is registered for steps 0, 2, and 4. POUT signal outputs are specified for steps 1, 3,
and 5.
The program table for this positioning is shown below.
PGM-
POS SPD
STEP
0 I+200000 15000
1 – 15000
2 I-200000 30000
3 – 30000
4 I-200000 30000
5 – 30000
• 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.

When positioning is completed to the target position, the /INPOSITION signal turns ON.
Execution moves to program step 1 and the /POUT0 signal turns ON.

After a wait time of 2 seconds, execution of the program step specified with the NEXT set-
ting (program step 2) is executed.
The /INPOSITION signal turns OFF.

When positioning is completed to the target position, the /INPOSITION signal turns ON.
Execution moves to program step 3 and the /POUT1 signal turns ON.

After a wait time of 2 seconds, execution of the program step specified with the NEXT set-
ting (program step 4) is executed.
The /INPOSITION signal turns OFF.

When positioning is completed to the target position, the /INPOSITION signal turns ON.
Execution moves to program step 5 and the /POUT2 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.
The /INPOSITION signal turns OFF.

Steps 4 to 9 are repeated.
• Operation Pattern and Related Signal Timing
Speed
Step 0
Operation
Pattern
Mode 0 (Program Table Operation)
/MODE 0/1
4 ms min.
START-STOP*
2 ms min.
/SEL0 to /SEL7*
/INPOSITION
/POUT0 to
0
/POUT7
*
Do not change /SEL0 to /SEL7 for 4 ms after turning ON the /START-STOP signal.
RDST RSPD ACC
– 1000 400000
– 1000 :
– 1000 :
– 1000 :
– 1000 :
– 1000 :
Step 1
Step 3
2 s
2 s
Step 2
1 0
13.3 Program Table Operation
13.3.8 Program Table Operation Examples
DEC POUT EVENT
200000 NNNNNNNN IT0
: : : : : : : : A T2000
: NNNNNNNN IT0
: : : : : : : A : T2000
: NNNNNNNN IT0
: : : : : : A : : T2000
Step 5
2 s
Step 4
0
2 0 4
LOOP NEXT
1 1
1 2
1 3
1 4
1 5
1 0
Step 1
Step 0 2 s
Time
13
0 1
13-33