7.3 Program Table Operation
7.3.7 Program Table Operation Examples
7-28
Specifying the Program Steps to Execute One at a Time
In this example, the program table contains steps 0 to 4, but only program steps 3 and 4 are
executed.
Step 3 performs relative positioning for 100,000 reference units at a speed of 15,000,000 refer-
ences units/min. The acceleration/deceleration rates that are set in Pn63E (Acceleration Rate)
and Pn640 (Deceleration Rate) are used.
Step 4 performs relative positioning for 200,000 reference units at a speed of 30,000,000 refer-
ences units/min with the same acceleration/deceleration rates as step 3.
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 /SEL4 signals to 3 (i.e., turn ON /SEL0 and /SEL1) to specify program
step 3.
Turn ON the /START-STOP signal to start program table operation.
The /COIN signal turns OFF and the /POUT3 signal turns ON.
When positioning is completed to the target position, the /COIN signal turns ON.
Turn OFF the /START-STOP signal.
Set the /SEL0 to /SEL4 signals to 4 (turn ON /SEL2) to specify program step 4.
Turn ON the /START-STOP signal to start program table operation.
The /POUT4 signal turns ON.
When positioning is completed to the target position, the /COIN 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 : : NNNNA IT2000 1 END
1
A+100000
15000 – 1000 : : NNNAN IT2000 1 END
2
I+300000
15000 – 1000 : : NNANN IT2000 1 END
3
I+100000
15000 – 1000 : : NANNN IT2000 1 END
4
I+200000
30000 – 1000 : : ANNNN IT2000 1 END
/MODE 0/1
/START-STOP*
/SEL0 to
/SEL4*
/COIN
3 4
/POUT0 to
/POUT4
8 16
0 ms min.
Operation
Pattern
Mode 0 (Program Table Operation)
1 ms min.
1 ms min.
Speed
Time
Step 3
Step 4
1 ms min.
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