YASKAWA E-7S SERVOPACK SGD7S Product Manual page 450

Using Consecutive Stops
You can use consecutive stops to set the target position to infinite (+/-INFINITE) and then per-
form positioning from constant-speed operation to a specified absolute position within the rota-
tional coordinates without stopping.
During positioning, the positioning speed (SPD) that is set for the previous program step is con-
Term
tinued until the point where deceleration is started to position to the target position within the
rotational coordinates without rotating in the reverse direction.
Note: Conditions for Using a Consecutive Stop
All of the following conditions must be met to use a consecutive stop.
If execution is attempted when any of the conditions is not met, an E53E (Movement Reference Duplication)
or E63E (Consecutive Stop Execution Failure) error will occur.
Conditions:
• Rotational coordinates must be used (PnB20 = 0001h, 0002h, or 0003h).
• The target position (POS) in the previous program step must be infinite (±INFINITE).
• The target positions (POS) in the previous two program steps must not both be set to infinite (±INFINITE).
• Registration cannot be used in the previous program step.
A consecutive stop is used with a program step that is set for an infinite length and constant-
speed operation.
In the following example, step 0 operates the motor for 2 seconds at a speed of 1,080,000,000
reference units/min and then execution moves to step 1. If the reference unit is set to 0.001
deg, then the speed would be 1,080 deg/min.
Step 1 continues operation at the positioning speed (SPD) specified for step 0 and performs
positioning to a target position of 45,000 reference units (45 deg). The rotation direction is not
reversed.
The program table for this positioning is shown below.
PGMSTEP POS SPD
0 +INFINITE 1080000
1 S+45000 1000
Note: 1. If a consecutive stop is specified for the target position (POS), the setting of the deceleration rate (DEC) in
the previous program step is disabled.
2. If INFINITE is specified for the target position (POS), always set the number of loops setting (LOOP) to 1.
3. If a consecutive stop is specified for the target position (POS), always set the number of loops setting
(LOOP) to 1.
4. If a consecutive stop is specified for the target position (POS), the settings of the positioning speed (SPD)
and acceleration rate (ACC) are ignored. The values that were specified in the previous program step are
used.
• 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.

After 2 seconds elapse, step 1 is executed.
The /POUT0 signal turns OFF and the /POUT1 signal turns ON.

When positioning is completed to the target position (45 deg = 45,000 reference units),
the /INPOSITION signal turns ON.
RDST RSPD ACC
– 1000 1080
– 1000 1080
13.3 Program Table Operation
13.3.8 Program Table Operation Examples
DEC POUT EVENT
1080 NNNNNNNA T2000
1080 NNNNNNAN IT0
LOOP NEXT
1 1
1 END
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