YASKAWA S-V Series User Manual page 85

Item Function
EVENT Pass condition
Number of
LOOP
executions
PGMSTEP to be
NEXT
executed next
Note 1. An error (E53E) will occur and program table operation will be stopped if a new positioning command is
received during positioning. To restart, turn the /START-STOP signal OFF and then ON again. The execution
will be started from the next step when restarting.
2. When the target position (POS) is +INFINITE or -INFINITE and the registration distance (RDST) is "-", the
Speed can be changed by executing the next PGMSTEP. In this case, the motor speed will shift to the new speed.
In all other cases, the speed cannot be changed by executing the next PGMSTEP and an error will occur (E53E)
if an attempt is made to do so.
3. Program table settings can be changed only when program table operation is canceled. Program table settings
cannot be changed during program table operating or stopping even if the PGMSTEP has not been executed and
an error will occur (E5EE).
Set the condition to use to determine when the program step has been completed.
For example, with the factory setting of IT0, the pass condition is met 0 ms after
/INPOSITION becomes active.
When the pass condition is met, the PGMSTEP that was specified for NEXT will be
executed if the number of execution times specified for LOOP has been reached. If
the number of execution times specified for LOOP has not been reached, execution is
repeated again.
<Settings>
*1
I: /INPOSITION
*1
N: NEAR
D: Position reference distribution completed (DEN)
SELx: Input signal (/SEL0 to /SEL7) active.
Note: Level detection is used, not edge detection.
Tn: Time elapsed (ms) since the program step started.
":": Continues the previously executed program step's specification.
ITn: Waits for n ms after INPOSITION becomes active.
NTn: Waits for n ms after NEAR becomes active.
DTn: Waits for n ms after DEN becomes active.
SELxTn: Waits for n ms after SELx becomes active.
The factory setting is IT0.
∗1. The I, N, D, and SELx parameters can be combined with Tn.
If n = 0, then including Tn will not change the results.
∗2. x = 0 to 7
∗3. n = 0 to 99999
Refer to 6.1.5 Examples of EVENT Conditions if necessary.
The following parameters set the INPOSITION and NEAR detection widths.
/INPOSITION Width
Setting
Setting Unit
PnB2D Range
0 to 99999
/NEAR Width
Setting
Setting Unit
PnB2F Range
0 to 99999
Specifies the number of execution of the program step.
Setting range: 1 to 99999
The factory setting is 1.
Note: The NEXT parameter is referenced after the number of LOOP repetitions are
completed. The LOOP specification cannot apply to more than one
PGMSTEP.
0 to 255: Jump to the specified PGMSTEP.
END: Ends program table operation. (Program table operation will be canceled.)
The factory setting is END.
Description
*1
*1, *2
*3
*3
*3
*3
*2, *3
Factory
When Enabled
Setting
Reference
1
unit
Factory
When Enabled
Setting
Reference
1
unit
6.1 Program Table
(cont'd)
Immediately
Immediately
6
6-7