User`s manual

6 Program Table
6.1.10 Program Table Examples
6-18
(8) Using Continuous Stop Function
∗1. When using the continuous stop function, the Deceleration (DEC) specified in the preceding program step is dis-
abled. The servomotor decelerates at the set rate in the program step specified by the continuous stop function.
∗2. Can only be set to 1.
∗3. When using the continuous stop function, the Positioning Speed (SPD) is disabled. The servomotor moves at the set
rate specified in the preceding program step.
∗4. When using the continuous stop function, the Acceleration (ACC) is disabled. The servomotor accelerates at the set
rate specified in the preceding program step.
 Continuous Stop Function
With the continuous stop function, the servomotor decelerates to a stop at the specified position (absolute
position specification) in rotational coordinates after a step has been finished when a ±INFINITE command is
used to jog forward or to jog reverse in operations using a program table.
The servomotor rotates at the positioning speed (SPD) set in the preceding program step until the point where
deceleration starts. The servomotor stops at the target point in rotational coordinates without rotating in
reverse.
The figure shows an example where the servomotor runs at a constant speed in program step 0 for two seconds
and positions the servomotor at a 45 degree (reference unit = 0.001 degree) in program step 1.
Note: To use the continuous stop function, the following conditions must be met.
• A rotational coordinate must be used. (PnB20 = 1, 2, or 3)
• The target position of the preceding program step must be ±INFINITE.
• The ±INFINITE (POS) setting must not be used in two consecutive steps.
• The Registration function must not be used in the preceding program step.
If these conditions are not met, one of the following errors will occur.
• Move Reference Duplication Error (E53E)
• Continuous Stop Execution Disabled Error (E63E)
PGMSTEP POS SPD RDST RSPD ACC DEC POUT EVENT LOOP NEXT
0 +INFINITE 1080000 – – 1080
1080
*1
NNNNNNNA T2000
1
*2
1
1 S+45000
1000
*3
––
1080
*4
1080 NNNNNNAN SEL5T0
1
*2
END
PGMSTEP 0
/START-STOP
/INPOSITION
/POUT0
/POUT1
PGMSTEP 1
2 s
Speed
1 s