YASKAWA E-7S SERVOPACK SGD7S Product Manual page 446

Combining Positioning with Constant-Speed Operation
This example shows how to perform operation that combines constant-speed operation and
positioning when the target position (POS) is set to INFINITE.
Step 0 performs operation for 2 seconds with no target position (infinite length = INFINITE) at a
speed of 15,000,000 reference units/min.
Step 1 performs operation with no target position (infinite length = INFINITE) and changes the
speed from 15,000,000 reference units/min to 30,000,000 reference units/min. Operation con-
tinues until the /SEL0 signal turns ON.
Step 2 decelerates the motor to a stop and step 3 performs relative positioning from the stop
position to a target position of 200,000 reference units.
PGM-
POS SPD
STEP
0 +INFINITE 15000
1 +INFINITE 30000
2 STOP 30000
3 I+200000 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.

After 2 seconds elapse, step 1 is executed.

When the /SEL0 signal turns ON, step 2 is executed.

After the motor decelerates to a stop, the /INPOSITION signal turns ON and step 3 is exe-
cuted. At the start of execution, the /INPOSITION signal turns OFF.

When positioning is completed to the target position, the /INPOSITION signal turns ON.

When the /SEL1 signal turns ON, program step 3 is ended and program step 0 is exe-
cuted.
• Operation Pattern and Related Signal Timing
Step 0
Speed
Operation
Pattern
2 s
Mode 0 (Program Table Operation)
/MODE 0/1
4 ms min.
START-STOP*
2 ms min.
/SEL0 to
/SEL7*
/INPOSITION
*
Do not change /SEL0 to /SEL7 for 4 ms after turning ON the /START-STOP signal.
RDST RSPD ACC
−
1000 400000 200000 NNNNNNNN T2000
−
1000 :
−
1000 :
−
1000 :
Step 2
Step 3
Step 1
2 ms min.
0 1
13.3 Program Table Operation
13.3.8 Program Table Operation Examples
DEC POUT EVENT
: : SEL0T0
: : IT0
: : SEL1T0
Step 2
Step 0
Step 1
2 s
2 ms min. 2 ms min.
2
LOOP NEXT
1 1
1 2
1 3
1 0
Step 3
Time
13
1
13-35