YASKAWA E-7S SERVOPACK SGD7S Product Manual page 448

Pausing Registration
This example shows how to turn OFF the /START-STOP signal to temporarily stop registration
operation and then turn ON the /START-STOP signal to restart registration operation.
The program table for this positioning is shown below.
PGM-
POS SPD
STEP
0 I+200000 30000
1 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.

The /RGRT signal turns ON to perform registration operation.
The speed changes to the registration speed.

Turn OFF the /START-STOP signal to stop operation.

Turn ON the /START-STOP signal to restart program table operation.

The /INPOSITION turns ON when positioning is completed for the remaining registration
distance.

When execution of program step 1 starts, 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.
• Operation Pattern and Related Signal Timing
Speed
Operation
Pattern
Mode 0
(Program Table Operation)
/MODE 0/1
4 ms min.
START-STOP*
2 ms min.
/SEL0 to /SEL7*
/RGRT
/INPOSITION
*
Do not change /SEL0 to /SEL7 for 4 ms after turning ON the /START-STOP signal.
RDST RSPD ACC
100000 15000 400000 200000 NNNNNNNN
100000 15000 :
Step 0
200
μs min.
13.3 Program Table Operation
13.3.8 Program Table Operation Examples
DEC POUT EVENT
IT0
: : : : : : : : : IT0
Step 1
0
LOOP NEXT
1 1
1 END
Time
13
13-37