Yaskawa G5 Motion Control - Manual (Page 3)

Motion Control
Date: 08/18/04, Rev: 04-08 Page 3 of 22 TM.G5SW.020
1.3.1 Command I/O Table for multi profile
Command table with P1-03 = 0 (multi profile)
Move
Pos.
Term
#1
Move
Neg.
Term
#2
Enable
Servo
Home
Cmd
Multi
Step
Profile
Destination
source
Accel/
decel
Max
Speed
used
Action
of
motor
- - 0 - - - - - Not running
0 0 1 0 - - - zero running
0 0 1 1 - - C1-01,02 P2-02,03 Homing
1 0 1 0 0 0 0 0 0 - C1-01,02 D1-09 Jog Positive
0 1 1 0 0 0 0 0 0 - C1-01,02 D1-09 Jog Negative
1 0 1 0 0 0 0 0 1 A2-01 C1-01,02 D1-01 Move to pos A2-01
0 1 1 0 0 0 0 0 1 A2-01 C1-01,02 D1-01 Move to neg A2-01
1 0 1 0 0 0 0 1 0 A2-02 C1-03,04 D1-02 Move to pos A2-02
0 1 1 0 0 0 0 1 0 A2-02 C1-03,04 D1-02 Move to neg A2-02
1 0 1 0 0 0 0 1 1 A2-03 C1-05,06 D1-03 Move to pos A2-03
0 1 1 0 0 0 0 1 1 A2-03 C1-05,06 D1-03 Move to neg A2-03
1 0 1 0 0 0 1 0 0 A2-04 C1-07,08 D1-04 Move to pos A2-04
0 1 1 0 0 0 1 0 0 A2-04 C1-07,08 D1-04 Move to neg A2-04
1 0 1 0 0 0 1 0 1 A2-05 C1-01,02 D1-05 Move to pos A2-05
0 1 1 0 0 0 1 0 1 A2-05 C1-01,02 D1-05 Move to neg A2-05
1 0 1 0 0 0 1 1 0 A2-06 C1-03,04 D1-06 Move to pos A2-06
0 1 1 0 0 0 1 1 0 A2-06 C1-03,04 D1-06 Move to neg A2-06
1 0 1 0 0 0 1 1 1 A2-07 C1-05,06 D1-07 Move to pos A2-07
0 1 1 0 0 0 1 1 1 A2-07 C1-05,06 D1-07 Move to neg A2-07
1 0 1 0 0 1 0 0 0 A2-08 C1-07,08 D1-08 Move to pos A2-08
0 1 1 0 0 1 0 0 0 A2-08 C1-07,08 D1-08 Move to neg A2-08
1 0 1 0 0 1 0 0 1 A2-09 C1-01,02 D1-01 Move to pos A2-09
0 1 1 0 0 1 0 0 1 A2-09 C1-01,02 D1-01 Move to neg A2-09
1 0 1 0 0 1 0 1 0 A2-10 C1-02,03 D1-02 Move to pos A2-10
0 1 1 0 0 1 0 1 0 A2-10 C1-02,03 D1-02 Move to neg A2-10
~ ~ ~ ~ ~ ~ ~ ~ ~
~ ~ ~ Continued pattern ~ ~
~ ~ ~ ~ ~ ~ ~ ~ ~
~ ~ ~ ~ ~ ~ ~ ~ ~
1 0 1 0 1 1 1 1 0 A2-30 C1-03,04 D1-06 Move to pos A2-30
0 1 1 0 1 1 1 1 0 A2-30 C1-03,04 D1-06 Move to neg A2-30
1 0 1 0 1 1 1 1 1 A2-31 C1-05,06 D1-07 Move to pos A2-31
0 1 1 0 1 1 1 1 1 A2-31 C1-05,06 D1-07 Move to neg A2-31