YASKAWA E-7S SERVOPACK SGD7S Product Manual page 447

13.3 Program Table Operation
13.3.8 Program Table Operation Examples
Performing Registration
This example shows how to use the /RGRT signal during execution of a program step to
change to the specified speed and perform positioning for the specified distance.
When the /RGRT signal turns ON during step 0, positioning is performed for a travel distance
(RDST) of 100,000 reference units.
The speed changes to 15,000,000 reference units/min (RSPD).
When the /RGRT signal turns ON during step 1, positioning is performed for a travel distance
(RDST) of 100,000 reference units.
The speed changes to 15,000,000 reference units/min (RSPD).
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.

The /RGRT signal turns ON to perform registration operation.
The speed changes to the registration speed.

The /INPOSITION turns ON when positioning is completed for the registration distance.

When execution of program step 1 starts, the /INPOSITION signal turns OFF.
Information
• Operation Pattern and Related Signal Timing
Operation
Pattern
/MODE 0/1
START-STOP*1
/SEL0 to
/SEL7*1
/RGRT
/INPOSITION
*1.
Do not change /SEL0 to /SEL7 for 4 ms after turning ON the /START-STOP signal.
*2.
PnB12 = 0000h (Registration is started by changing the /RGRT signal from OFF (open) to ON (closed)):
20 μs min.
PnB12 = 0001h (Registration is started by changing the /RGRT signal from ON (closed) to OFF (open)):
200 μs min.
*3.
The /RGRT signal is ignored during registration operation.
13-36
POS SPD RDST
I+200000 30000 100000
I-200000 30000 100000
If the remaining distance to the target position is shorter than the registration distance (RDST)
when the /RGRT signal turns ON, an E23A serial command not acknowledged response
(A.AEF (Insufficient Registration Distance Alarm)) occurs, the servo is turned OFF, and pro-
gram execution is stopped.
Step 0
Speed
Mode 0
(Program Table Operation)
4 ms min.
2 ms min.
RSPD ACC DEC
15000 400000 200000 NNNNNNNN
15000 :
Step 1
8 ms max.
*2
*3
POUT EVENT
IT0
: : : : : : : : : IT0
Step 0
0
LOOP NEXT
1 1
1 0
Time