YASKAWA SGD7S-330A - Page 115

7.3 Program Table Operation
7.3.7 Program Table Operation Examples
7-34
Specifying SEL Signals as Events
In this example, SEL signals are specified as the end conditions for the program steps.
Step 0 ends 2 seconds after the /SEL0 signal turns ON after positioning is completed.
Step 1 ends 2 seconds after the /SEL1 signal turns ON after positioning is completed.
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 0 to specify program step 0.
 Turn ON the /START-STOP signal to start program table operation.
The /COIN signal turns OFF and the /POUT0 signal turns ON.
 When positioning is completed to the target position, the /COIN signal turns ON.
 The /SEL0 signal turns ON.
 After a wait time of 2 seconds, execution of the program step specified with the NEXT set-
ting (program step 1) is executed.
The /COIN signal turns OFF and the /POUT1 signal turns ON.
 When positioning is completed to the target position, the /COIN signal turns ON.
 The /SEL1 signal turns ON.
 After a wait time of 2 seconds, program step 1 is executed again.
The /COIN signal turns OFF.
 When positioning is completed to the target position, the /COIN signal turns ON.
The /SEL1 signal turns ON.
After a wait time of 2 seconds, execution of the program step specified with the NEXT set-
ting (program step 0) is executed.
The /COIN and /POUT1 signals turn OFF and the /POUT0 signal turns ON.
Steps 4 to 12 are repeated.
• 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+200000 15000 – 1000 400000 200000 NNNNA SEL0T2000 11
1 I-200000 30000 – 1000 400000 200000 NNNAN SEL1T2000 20
11
12
13
1 ms min.
1 ms min.
1 ms min.
Operation
Pattern
Speed
Time
Mode 0 (Program Table Operation)
2 s
2 s 2 s
Step 0 Step 1









Step 0
Step 1
1 ms min.
START-STOP*
/COIN
/MODE 0/1
1 ms min.
1 ms min.
1 ms min. 1 ms min.
/SEL0 to
/SEL4*
002210
0
/POUT0 to
/POUT4
112