16.11.4 Timing chart of the program operation
(1) Operation condition
The following shows a timing chart when the program below is executed after the home position return
completion under the absolute value command method.
Acceleration/deceleration time
constant
Absolute value travel command
Suspend the step until PI1 (Program input 1) is switched on.
Acceleration/deceleration time
constant
Absolute value travel command
Acceleration/deceleration time
constant
Absolute value travel command
Suspend the step until PI1 (Program input 1) is switched on.
Acceleration/deceleration time
constant
Absolute value travel command
The detection of external input signals is delayed by the set time in the input filter setting of [Pr. PD29]. Considering the output
signal sequence from PC or PLC...etc and signal variations due to hardware, configure a sequence that changes the program
selection earlier.
ON
OFF
SON (Servo-on)
ON
OFF
ST1 (Forward rotation start)
ON
OFF
Program No.
MD0
(Operation mode selection 1)
Forward rotation
0 r/min
Reverse rotation
ON
OFF
PED (Position end)
PI1 (Program input 1)
ON
OFF
ON
OFF
ON
OFF
RD (Ready)
ALM (Malfunction)
3 ms or
shorter
3 ms or
shorter
Travel
command 2
3 ms or
shorter
3 ms or
shorter
Travel
command 4
(Note)
3 ms or
longer
5 ms or
longer
(Note)
3 ms or
longer
5 ms or longer 5 ms or longer
Travel
command 1
Travel
command 3
Servo motor speed
5 ms or
longer
1 2
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