Yaskawa MP2200 Machine Controller - Manual (Page 298)

5 Motion Commands
5.2.7 STEP Operation (STEP)
5-68
( 2 ) Holding
Axis travel can be stopped during command execution and then the remaining travel can be restarted.
A command is held by setting the Command Pause (OB††090) bit to 1.
1. Set the Command Pause bit (OB††090) to 1. The axis will decelerate to a stop.
When the axis has stopped, the Command Hold Completed bit (IB††091) will turn
ON.
2. Turn OFF the Command Pause bit (OB††090). The command hold status will be
cleared and the remaining portion of the positioning will be restarted.
( 3 ) Aborting
Axis travel can be stopped during command execution and the remaining travel cancelled by aborting
execution of a command. A command is aborted by setting the Command Abort bit (OB††091) to
1.
Set the Command Abort bit (OB††091) to 1. The axis will decelerate to a stop. When the axis has
stopped, the Positioning Completed bit (IB††01C) will turn ON.
This type of operation will also be performed if the motion command is changed during axis
movement.
Set the motion setting parameters.
• Step Distance: OL††44
• Direction of Movement: OB††092
• Travel Speed: OL††10
• Acceleration/Deceleration Filter Type:
OW††03
• Speed Loop P/PI Switch: OW††01
• The travel speed can be changed during movement.
• An override of between 0% to 327.67% can be set for the travel speed.
• Set OB††090 to 1 to hold the command.
• Set ON OB††091 to 1 to abort execution.
Execute the STEP operation command.
• Set OW††08 to 8.
STEP operation starts.
• IW††08 will be 8 during execution.
Position proximity reached.
• IB††0C3 will turn ON.
Positioning completed.
• IB††0C1 will turn ON.
Execute NOP motion command.
• Set OW††08 to 0.
STEP travel
distance
Speed (%)
0
Rated speed
Linear
Acceleration Time
Linear
Deceleration Time
100%
Travel
speed