YASKAWA E-7S SERVOPACK SGD7S - Program Table Operation Examples

13.3 Program Table Operation
13.3.8 Program Table Operation Examples
13-27
13
Operation with Digital I/O
13.3.8 Program Table Operation Examples
This section provides the following 12 examples to show the timing of the I/O signals related to
program table operation.
In the following examples, it is assumed that an homing has been completed to define the ori-
gin.
Refer to the following section for a timing chart from when the power supply to the equipment
is turned ON until homing is completed when an incremental encoder is used.
13.2
Homing
on page 13-4
Specifying the Program Steps to Execute One at a Time
In this example, the program table contains steps 0 to 5, but only program steps 3 and 5 are
executed.
Step 3 performs relative positioning for 100,000 reference units at a speed of 15,000,000 refer-
ences units/min. The acceleration/deceleration rates that are set in PnB29 and PnB2B are
used.
Step 5 performs relative positioning for 300,000 reference units at a speed of 30,000,000 refer-
ences units/min with the same acceleration/deceleration rates as step 3.
The program table for this positioning is shown below.
No. Item Reference
1 Specifying the Program Steps to Execute One at a Time page 13-27
2 Specifying the Next Step to Execute in the NEXT Setting
page 13-29
3 Specifying the Number of Times to Execute a Program Step
page 13-30
4 Pausing Program Table Operation
page 13-31
5 Outputting POUT Signals for the Specified Time
page 13-33
6 Specifying SEL Signals as Events
page 13-34
7 Combining Positioning with Constant-Speed Operation
page 13-35
8 Performing Registration
page 13-36
9 Pausing Registration
page 13-37
10 Turning ON the /RGRT Signal While Program Table Operation Is Stopped
page 13-38
11 Using Consecutive Stops
page 13-39
12 Resetting Program Table Operation
page 13-41
PGMSTEP POS SPD RDST RSPD ACC DEC POUT EVENT LOOP NEXT
0 I+100000 15000 – 1000 : : NNNNNNNA IT2000 1 END
1 A+100000 15000 – 1000 : : NNNNNNAN IT2000 1 END
2 I+300000 15000 – 1000 : : NNNNNANN IT2000 1 END
3
I+100000 15000 – 1000 : : NNNNANNN IT2000 1 END
4 I+200000 30000 – 1000 : : NNNANNNN IT2000 1 END
5 I+300000 30000 – 1000 : : NNANNNNN IT2000 1 END