YASKAWA E-S Series Product Manual

Contents

7.3 Program Table Operation7.3.7 Program Table Operation Examples7-347.3.7 Program Table Operation ExamplesThis section provides examples of positioning operation to show the timing of the I/O signalsrelated to program table operation.In the following examples, it is assumed that homing has been completed to define the homeposition.Refer to the following section for a timing chart from when the power supply is turned ON untilhoming is completed.7.2 Homing on page 7-3Positioning Operation Example Executing Program Steps with the Program Step Selection InputsIn this example, positioning is performed for program steps 3 and 5.Step 3 performs relative positioning for 100,000 reference units at a speed of 15,000 refer-ences units/s with a positioning completed width of 10 reference units.Step 5 performs relative positioning for 300,000 reference units at a speed of 30,000 refer-ences units/s with a positioning completed width of 10 reference units.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 3 to specify program step 3. Turn ON the /START signal to start program table operation.The /POUT0 to /POUT5 signals output 3. 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. When positioning is completed to the target position, the /INPOSITION signal turns ON. Set the /SEL0 to /SEL5 signals to 5 to specify program step 5. Turn ON the /START signal to start program table operation.The /POUT0 to /POUT5 signals output 5. 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. When positioning is completed to the target position, the /INPOSITION signal turns ON.PGM-STEP POS SPD ACC DEC TLIMT PTLIMT CLLV PSPD INPOS AREA1 AREA2 EVENT NEXT0 I+100000 15000 400000 200000 : – 0 2000 10 0 0 IT1000 END1 A+100000 15000 : : : – 0 2000 20 0 0 IT2000 END2 I+300000 15000 : : 30 – 0 2000 10 0 0 IT3000 END3 I+100000 15000 : : : – 0 2000 : 0 0 IT2000 END4 I+200000 30000 200000 : : – 0 2000 : 0 0 IT2000 END5 I+300000 30000 400000 : 100 – 0 2000 : 0 0 IT2000 END