13.3 Program Table Operation
13.3.8 Program Table Operation Examples
13-30
Specifying the Number of Times to Execute a Program Step
In this example, program step 0 is executed and then step 1 is executed three times.
Step 0 performs relative positioning for 300,000 reference units at a speed of 15,000,000 refer-
ences units/min. The acceleration rate is 400,000,000 reference units/min/ms and the deceler-
ation rate is 200,000,000 reference units/min/ms.
Step 1 performs relative positioning for -400,000 reference units at a speed of 20,000,000 ref-
erences units/min. The acceleration rate is 500,000,000 reference units/min/ms and the decel-
eration rate is 250,000,000 reference units/min/ms. The number of loops for step 1 is set to 2.
The program table for this positioning is shown below.
• Operating Procedure
Turn ON the /MODE 0/1 signal to change to mode 0.
Set the /SEL0 to /SEL7 signals to 0 to specify program step 0.
Turn ON the /START-STOP signal to start program table operation.
The /INPOSITION signal turns OFF and the /POUT0 signal turns ON.
When positioning is completed to the target position, the /INPOSITION signal turns ON.
After a wait time of 1 second, execution of the program step specified with the NEXT set-
ting (program step 1) is executed.
The /INPOSITION and /POUT0 signals turn OFF and the /POUT1 signal turns ON.
When positioning is completed to the target position, the /INPOSITION signal turns ON.
After a wait time of 2 seconds, execution of program step 1 is started twice.
The /INPOSITION signal turns OFF.
When positioning is completed to the target position, the /INPOSITION signal turns ON.
After a wait time of 2 seconds, execution of program step 1 is started a third time.
The /INPOSITION signal turns OFF.
When positioning is completed to the target position, the /INPOSITION signal turns ON.
After a wait time of 2 seconds, program table operation is ended and the /POUT1 signal
turns OFF.
• Operation Pattern and Related Signal Timing
* Do not change /SEL0 to /SEL7 for 4 ms after turning ON the /START-STOP signal.
PGM-
STEP
POS SPD RDST RSPD ACC DEC POUT EVENT LOOP NEXT
0
I+300000
15000 – 1000 400000 200000
NNNNNNNA
IT1000 1 1
1
I-400000
20000 – 1000 500000 250000
NNNNNNAN
IT2000 3 END
/START-STOP*
/INPOSITION
/MODE 0/1
1 s 2 s
/SEL0 to
/SEL7*
2 s
2 s
0
/POUT0 to
/POUT7
1 2
4 ms min.
Operation
Pattern
Speed
Time
Mode 0 (Program Table Operation)
Step 0
2 ms min.
Step 1
LOOP = 1
Step 1
LOOP = 2
Step 1
LOOP = 3
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