YASKAWA E-7S SERVOPACK SGD7S Product Manual page 445

13.3 Program Table Operation
13.3.8 Program Table Operation Examples
Specifying SEL Signals as Events
In this example, SEL signals are specified as the end conditions for the program steps.
Step 0 ends 2 seconds after the /SEL0 signal turns ON after positioning is completed.
Step 1 ends 2 seconds after the /SEL1 signal turns ON after positioning is completed.
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.

The /SEL0 signal turns ON.

After a wait time of 2 seconds, execution of the program step specified with the NEXT set-
ting (program step 1) is executed.
The /INPOSITION signal turns OFF and the /POUT1 signal turns ON.

When positioning is completed to the target position, the /INPOSITION signal turns ON.

The /SEL1 signal turns ON.

After a wait time of 2 seconds, program step 1 is executed again.
The /INPOSITION signal turns OFF.

When positioning is completed to the target position, the /INPOSITION signal turns ON.
The /SEL1 signal turns ON.
11
After a wait time of 2 seconds, execution of the program step specified with the NEXT set-
12
ting (program step 0) is executed.
The /INPOSITION and /POUT1 signals turn OFF and the /POUT0 signal turns ON.
Steps 4 to 12 are repeated.
13
• 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.
13-34
POS SPD RDST
I+200000 15000 –
I-200000 30000 –
Step 0
Speed
Mode 0 (Program Table Operation)
4 ms min.
2 ms min. 2 ms min.
0
1
RSPD ACC DEC
1000 400000 200000 NNNNNNNA SEL0T2000
1000 400000 200000 NNNNNNAN SEL1T2000
Step 1
2 s 2 s
2 ms min. 2 ms min. 2 ms min.
1 0 2
2
POUT EVENT LOOP
1
2
Step 1 Step 0
2 s
2 ms min. 2 ms min.
0 2 0
1
NEXT
1
0
Time