YASKAWA E-S Series - Page 166

7.3 Program Table Operation
7.3.7 Program Table Operation Examples
7-39
7
Operation and Functions
 Temporarily Stopping Program Table Operation and Then Restarting It
This example shows how to use the /STOP signal to temporarily stop program table operation
and then turn OFF the /STOP signal to execute the remainder of the step.
The program table for these positioning operations is shown below.
• Operating Procedure
 Turn ON the /MODE signal to change to mode 0.
 Set the /SEL0 to /SEL5 signals to 4 to specify program step 4.
 Turn ON the /START signal to start program table operation.
The /POUT0 to /POUT5 signals output 4.
 Keep the /START signal ON for at least 2 ms and then confirm that the /BUSY signal is ON.
If the /BUSY signal is ON, turn OFF the /START signal.
 Turn ON the /STOP signal to stop program table operation.
 The Servomotor decelerates to a stop and the /BUSY signal turns OFF.
 Turn OFF the /STOP signal to restart program table operation.
 When positioning is completed to the target position, the /INPOSITION signal turns ON.
• Operation Pattern and Related Signal Timing
PGM-
STEP
POS SPD ACC DEC TLIMT PTLIMT CLLV PSPD INPOS AREA1 AREA2 EVENT NEXT
0
I+100000 15000 400000 200000 : - 0 2000 10 0 0 IT1000 END
1 A+100000 15000 : : : - 0 2000 20 0 0 IT2000 END
2 I+300000 15000 : : 30 - 0 2000 10 0 0 IT3000 END
3 I+100000 15000 : : : - 0 2000 : 0 0 IT2000 END
4 I+200000 30000 200000 : : - 0 2000 : 0 0 IT2000 END
Operation Pattern
/MODE
/START
/SEL0 to /SEL5
/BUSY
/INPOSITION
Mode 0 (program table operation)
2 ms min.
2 ms min.
Speed
Time
Latched.
/STOP
/POUT0 to /POUT5
4








2 ms min.
4
Step 4 Step 4