Yaskawa G5 Motion Control - Manual (Page 22)

Motion Control
Date: 08/18/04, Rev: 04-08 Page 22 of 22 TM.G5SW.020
7.4 Stacker Crane using absolute encoder feedback
G5+
CONTROLLER
Motor E
Move Pos. Command term#1`
Motor speed
move in progress output
move complete output
MS#1 term # 6
Enable term#3
Stacker Crane
PLC
Serial
X axis
wheels
X axis
Absolute
encoder
G5+
CONTROLLER
Motor E
Y axis
Hoist
Y axis
Absolute
encoder
Serial
G5+
CONTROLLER
Motor E
Z axis
Shuttle
Table
X axis
Absolute
encoder
Serial
Transmit serial destination
Modified constants Function
C1-01
Accel when multistep 1 is selected.
C1-02
Decel when multistep 1 is selected.
D1-01
Speed when multistep 1 is selected.
P1-03
32 bit serial distance
P3-01
Absolute encoder feedback
P3-02
Encoder ratio
P3-03
Encoder ratio