YASKAWA E-S Series Product Manual

Contents

7.3 Program Table Operation7.3.7 Program Table Operation Examples7-36 Executing Program Steps with the NEXT Settings in the Program TableIn this example, reciprocating operation is performed using program steps 0 and 1.Step 0 performs relative positioning for 300,000 reference units at a speed of 15,000 refer-ences units/s with a positioning completed width of 10 reference units.Step 1 performs relative positioning for -400,000 reference units at a speed of 20,000 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 0 to specify program step 0. Turn ON the /START signal to start program table operation.The /POUT0 to /POUT5 signals output 0. 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. After the wait time set for the program step elapses, execution of the program step specifiedwith the NEXT setting is executed.The /POUT0 to /POUT5 signals output 1. When positioning is completed to the target position, the /INPOSITION signal turns ON. After the wait time set for the program step elapses, execution of the program step specifiedwith the NEXT setting is executed.The /POUT0 to /POUT5 signals output 0. When positioning is completed to the target position, the /INPOSITION signal turns ON.In this example, the NEXT step for program step 0 is step 1 and the NEXT step for programstep 1 is step 0. The EVENT settings are set to BTn. The wait times in the figure depend on thevalues of “n.”PGM-STEP POS SPD ACC DEC TLIMT PTLIMT CLLV PSPD INPOS AREA1 AREA2 EVENT NEXT0 I+300000 15000 400000 200000 : – 0 2000 (10) 0 0 IT1000 11 I-400000 20000 500000 250000 : – 0 2000 (10) 0 0 IT2000 0