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7.3 Program Table Operation
7.3.7 Program Table Operation Examples
7.3.7
Program Table Operation Examples
This section provides examples of positioning operation to show the timing of the I/O signals
related to program table operation.
In the following examples, it is assumed that homing has been completed to define the home
position.
Refer to the following section for a timing chart from when the power supply is turned ON until
homing is completed.
7.2
Positioning Operation Example
Executing Program Steps with the Program Step Selection Inputs
In this example, positioning is performed for program steps 3 and 5.
Step 3 performs relative positioning for 100,000 reference units at a speed of 15,000 refer-
ences units/s with a positioning completed width of 10 reference units.
Step 5 performs relative positioning for 300,000 reference units at a speed of 30,000 refer-
ences units/s with a positioning completed width of 10 reference units.
The program table for these positioning operations is shown below.
PGM-
STEP
0
1
2
3
4
5
• Operating Procedure
Turn ON the /MODE signal to change to mode 0.
Set the /SEL0 to /SEL5 signals to 3 to specify program step 3.
Turn ON the /START signal to start program table operation.
The /POUT0 to /POUT5 signals output 3.
Keep the /START signal ON for at least 2 ms and then confirm that the /BUSY signal is ON.
If the /BUSY signal is ON, turn OFF the /START signal.
When positioning is completed to the target position, the /INPOSITION signal turns ON.
Set the /SEL0 to /SEL5 signals to 5 to specify program step 5.
Turn ON the /START signal to start program table operation.
The /POUT0 to /POUT5 signals output 5.
Keep the /START signal ON for at least 2 ms and then confirm that the /BUSY signal is ON.
If the /BUSY signal is ON, turn OFF the /START signal.
When positioning is completed to the target position, the /INPOSITION signal turns ON.
7-34
on page 7-3
Homing
POS
SPD
ACC
DEC
I+100000 15000 400000 200000
A+100000 15000
:
I+300000 15000
:
I+100000 15000
:
I+200000 30000 200000
I+300000 30000 400000
TLIMT PTLIMT CLLV PSPD INPOS AREA1 AREA2 EVENT NEXT
:
–
0
:
:
–
0
:
30
–
0
:
:
–
0
:
:
–
0
:
100
–
0
2000
10
0
0
2000
20
0
0
2000
10
0
0
2000
:
0
0
2000
:
0
0
2000
:
0
0
IT1000
END
IT2000
END
IT3000
END
IT2000
END
IT2000
END
IT2000
END
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