Yaskawa MP2200 Machine Controller - Manual (Page 447)

8.3 Motion Commands
8-31
( 7 ) STEP Operation (STEP)
The STEP command executes a positioning for the specified travel direction, moving amount, and
travel speed.
Parameters related to acceleration and deceleration are set in advance. The speed can be changed
during axis movement.
[ a ] Operating Procedure
（ Note） The following position information is updated during command execution.
• Machine Coordinate Target Position (TPOS) (IL††0E)
• Target Position (CPOS) (IL††10)
• Machine Coordinate System Position (MPOS) (IL††12): MPOS is always equal to CPOS.
• Machine Coordinate Feedback Position (APOS) (IL††16): APOS is always equal to CPOS.
No. Execution Conditions Confirmation Method
1 There are no alarms. Both IL††02 and IL††04 are 0.
2 The Servo ON condition. IB††001 is ON.
3 Motion command execution has been completed. IW††08 is 0 and IB††090 is OFF.
Set the motion setting parameters.
• Step Distance: OL††44
• Direction of Movement: OB††092
• Travel Speed: OL††10
• Acceleration/Deceleration Filter Type:
OW††03
• The travel speed can be changed during movement.
• Set OB††090 to 1 to hold the command.
• Set OB††091 to 1 to abort the 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.
100%
0
OW 08 = 8 (STEP)
IW 08 = 8 (STEP)
IB 090 (BUSY)
IB 098 (COMPLETE)
IB 0C0 (DEN)
IB 0C1 (POSCOMP)
IB 0C3 (NEAR)
Linear acceleration
time
Linear deceleration
time
Feed speed
Rated speed
Speed (%)
Time (t)
Step
Distance