13.3 Program Table Operation
13.3.8 Program Table Operation Examples
13-36
Performing Registration
This example shows how to use the /RGRT signal during execution of a program step to
change to the specified speed and perform positioning for the specified distance.
When the /RGRT signal turns ON during step 0, positioning is performed for a travel distance
(RDST) of 100,000 reference units.
The speed changes to 15,000,000 reference units/min (RSPD).
When the /RGRT signal turns ON during step 1, positioning is performed for a travel distance
(RDST) of 100,000 reference units.
The speed changes to 15,000,000 reference units/min (RSPD).
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.
The /RGRT signal turns ON to perform registration operation.
The speed changes to the registration speed.
The /INPOSITION turns ON when positioning is completed for the registration distance.
When execution of program step 1 starts, the /INPOSITION signal turns OFF.
• Operation Pattern and Related Signal Timing
*1. Do not change /SEL0 to /SEL7 for 4 ms after turning ON the /START-STOP signal.
*2. PnB12 = 0000h (Registration is started by changing the /RGRT signal from OFF (open) to ON (closed)):
20 μs min.
PnB12 = 0001h (Registration is started by changing the /RGRT signal from ON (closed) to OFF (open)):
200 μs min.
*3. The /RGRT signal is ignored during registration operation.
PGM-
STEP
POS SPD RDST RSPD ACC DEC POUT EVENT LOOP NEXT
0
I+200000
30000 100000 15000 400000 200000
NNNNNNNN
IT0 1 1
1
I-200000
30000 100000 15000 : :
: : : : : : : :
IT0 1 0
If the remaining distance to the target position is shorter than the registration distance (RDST)
when the /RGRT signal turns ON, an E23A serial command not acknowledged response
(A.AEF (Insufficient Registration Distance Alarm)) occurs, the servo is turned OFF, and pro-
gram execution is stopped.
START-STOP*1
/INPOSITION
/MODE 0/1
*3
*2
/RGRT
0
4 ms min.
Operation
Pattern
Speed
Time
Mode 0
(Program Table Operation)
Step 0 Step 1
/SEL0 to
/SEL7*1
2 ms min.
8 ms max.
Step 0
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