YASKAWA E-7S SERVOPACK SGD7S Product Manual page 452

Resetting Program Table Operation
In this example, program operation is reset during repeated operation of program steps 0 and 1
and then the program step is specified and operation is restarted from the canceled state.
Note: "Canceled" is the state in which the mode is mode 0, execution is not in a stopped state, and no program
step has been executed.
Step 0 performs relative positioning for 100,000 reference units at a speed of 15,000,000 refer-
ences units/min. The acceleration rate is 400,000,000 reference units/min/ms and the deceler-
ation rate is 200,000,000 reference units/min/ms.
Step 1 performs relative positioning for 100,000 reference units at a speed of 30,000,000 refer-
ences units/min. The acceleration rate is 400,000,000 reference units/min/ms and the deceler-
ation rate is 200,000,000 reference units/min/ms.
The program table for this positioning is shown below.
PGM-
POS SPD
STEP
0 I+100000 15000
1 I-100000 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.

Turn OFF the /START-STOP signal to stop program table operation.

Turn ON the /PGMRES signal to cancel program table operation.

Set the /SEL0 to /SEL7 signals to 1 (i.e., turn ON /SEL0) to specify program step 1.

Turn ON the /START-STOP signal to start program table operation.

When positioning is completed to the target position, the /INPOSITION signal turns ON.
• Operation Pattern and Related Signal Timing
Speed
Operation
Pattern
MODE 0 (program table operation)
/MODE 0/1
4 ms min.
/START-STOP*
/PGMRES
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
– 1000 400000 200000
Step 0
Canceled state
4 ms min.
4 ms min.
2 ms min.
0
13.3 Program Table Operation
13.3.8 Program Table Operation Examples
DEC POUT EVENT
NNNNN-
IT1000
NNN
NNNNN-
IT1000
NNN
Step 1
1
LOOP NEXT
1 1
1 0
Time
13
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