Settings In The Program Table - YASKAWA E-S Series Product Manual

7.3.5

Settings in the Program Table

Item Name
PGM Program
STEP step
Target
POS
position
Position-
SPD
ing speed
Accelera-
ACC
tion rate
Decelera-
DEC
tion rate
Position-
TLIMT ing torque
limit
Pressing
PTLIMT torque
limit
Torque
CLLV
threshold
Description
Numbers are used to identify the
program steps in the program
table.
Specifies the target position.
Specifies the target speed for
positioning.
Specifies the acceleration rate to
use to reach the positioning
speed.
Specifies the deceleration rate
from the positioning speed.
Specifies the torque limit for posi-
tioning.
Specifies the torque limit for
pressing operation.
If pressing occurs at the specified
torque or higher during pressing
operation, the SERVOPACK
detects that pressing status has
been achieved. After the pressing
operation completion wait time
(PnBE4) elapses during pressing
status, the /INPOSITION signal
turns ON.
This value does not need to be set
for positioning operation.
7.3 Program Table Operation

7.3.5 Settings in the Program Table

Setting Method
The /SEL0 to
/SEL5 signals are
used to specify –
the program
step.
You can use the infinity settings
for the target positions only for
rotational coordinates (PnB20 =
1, 2, or 3) or when the software
Refer to the fol-
limits are not used (PnB21 and
lowing section.
 PnB23 = 0).
POS on
An error will occur if you use an
page 7-23
infinity setting for linear coordi-
nates or when the software lim-
its are enabled.
Refer to the fol-
lowing section.
–

SPD on
page 7-24
Refer to the fol-
lowing section.
–

ACC and
DEC on page
7-24
Refer to the fol-
lowing section.
–

ACC and
DEC on page
7-24
The TLIMT and PTLIMT limits
will be released if any of the fol-
lowing conditions occurs after
Refer to the fol-
the TLIMT and PTLIMT limits
lowing section.

are specified.
TLIMT on
• The /MODE signal is turned
page 7-25
OFF to change to mode 1.
• The /S-ON signal is turned
OFF to enter the SERVO OFF
state.
• An alarm occurs.
In the following cases, the last
TLIMT and PTLIMT limits that
were specified will be used.
Refer to the fol-
• When program operation is
lowing section.
completed

PTLIMT on
• When the /STOP signal turns
page 7-26
ON to stop program opera-
tion
• When the /PGMRES signal
turns ON to reset program
operation
Refer to the fol-
lowing section.
–

CLLV on
page 7-27
Continued on next page.
Remarks
7
7-19