13.3 Program Table Operation
13.3.8 Program Table Operation Examples
13-35
13
Operation with Digital I/O
Combining Positioning with Constant-Speed Operation
This example shows how to perform operation that combines constant-speed operation and
positioning when the target position (POS) is set to INFINITE.
Step 0 performs operation for 2 seconds with no target position (infinite length = INFINITE) at a
speed of 15,000,000 reference units/min.
Step 1 performs operation with no target position (infinite length = INFINITE) and changes the
speed from 15,000,000 reference units/min to 30,000,000 reference units/min. Operation con-
tinues until the /SEL0 signal turns ON.
Step 2 decelerates the motor to a stop and step 3 performs relative positioning from the stop
position to a target position of 200,000 reference units.
• 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.
After 2 seconds elapse, step 1 is executed.
When the /SEL0 signal turns ON, step 2 is executed.
After the motor decelerates to a stop, the /INPOSITION signal turns ON and step 3 is exe-
cuted. At the start of execution, the /INPOSITION signal turns OFF.
When positioning is completed to the target position, the /INPOSITION signal turns ON.
When the /SEL1 signal turns ON, program step 3 is ended and program step 0 is exe-
cuted.
• 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
+INFINITE
15000 − 1000 400000 200000
NNNNNNNN
T2000 1 1
1
+INFINITE
30000 − 1000 : : : SEL0T0 1 2
2
STOP
30000 − 1000 : : : IT0 1 3
3
I+200000
30000 − 1000 : : : SEL1T0 1 0
4 ms min.
Operation
Pattern
2 ms min.
Speed
Time
Mode 0 (Program Table Operation)
Step 0
Step 1
2 s
Step 2
Step 3
Step 0
Step 1
Step 2
Step 3
2 s
START-STOP*
/INPOSITION
/MODE 0/1
0
/SEL0 to
/SEL7*
121
2 ms min.
2 ms min.
2 ms min.
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