13.3 Program Table Operation
13.3.8 Program Table Operation Examples
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Operation with Digital I/O
Resetting Program Table Operation
In this example, program operation is reset during repeated operation of program steps 0 and 1
and then the program step is specified and operation is restarted from the canceled state.
Note: “Canceled” is the state in which the mode is mode 0, execution is not in a stopped state, and no program
step has been executed.
Step 0 performs relative positioning for 100,000 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 100,000 reference units at a speed of 30,000,000 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.
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.
Turn OFF the /START-STOP signal to stop program table operation.
Turn ON the /PGMRES signal to cancel program table operation.
Set the /SEL0 to /SEL7 signals to 1 (i.e., turn ON /SEL0) to specify program step 1.
Turn ON the /START-STOP signal to start program table operation.
When positioning is completed to the target position, the /INPOSITION signal turns ON.
• 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+100000
15000 – 1000 400000 200000
NNNNN-
NNN
IT1000 1 1
1
I-100000
30000 – 1000 400000 200000
NNNNN-
NNN
IT1000 1 0
/MODE 0/1
/START-STOP*
/INPOSITION
/PGMRES
/SEL0 to
/SEL7*
0 1
Operation
Pattern
MODE 0 (program table operation)
4 ms min.
2 ms min.
Speed
Time
4 ms min.
Step 0
Step 1
2 ms min.
Canceled state
4 ms min.
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