YASKAWA E-S Series Product Manual page 163

7.3 Program Table Operation
7.3.7 Program Table Operation Examples
 Executing Program Steps with the NEXT Settings in the Program Table
In this example, reciprocating operation is performed using program steps 0 and 1.
Step 0 performs relative positioning for 300,000 reference units at a speed of 15,000 refer-
ences units/s with a positioning completed width of 10 reference units.
Step 1 performs relative positioning for -400,000 reference units at a speed of 20,000 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
• Operating Procedure
 Turn ON the /MODE signal to change to mode 0.
 Set the /SEL0 to /SEL5 signals to 0 to specify program step 0.
 Turn ON the /START signal to start program table operation.
The /POUT0 to /POUT5 signals output 0.
 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.
 After the wait time set for the program step elapses, execution of the program step specified
with the NEXT setting is executed.
The /POUT0 to /POUT5 signals output 1.
 When positioning is completed to the target position, the /INPOSITION signal turns ON.
 After the wait time set for the program step elapses, execution of the program step specified
with the NEXT setting is executed.
The /POUT0 to /POUT5 signals output 0.
 When positioning is completed to the target position, the /INPOSITION signal turns ON.
In this example, the NEXT step for program step 0 is step 1 and the NEXT step for program
step 1 is step 0. The EVENT settings are set to BTn. The wait times in the figure depend on the
values of "n."
7-36
POS SPD ACC DEC
I+300000 15000 400000 200000
I-400000 20000 500000 250000
TLIMT PTLIMT CLLV PSPD INPOS AREA1 AREA2 EVENT NEXT
: – 0 2000
: – 0 2000
(10) 0 0 IT1000
(10) 0 0 IT2000
1
0