Yaskawa MP940 Reference Manual - Manual (Page 484)

MotionSuite™ MP940 Machine Controller Reference Manual Stepping (STEP)
11-87
Turns the ABORT command (bit 1 of OWC021) ON or sets NOP (= 0)
into the motion commands.
Note: The axis remains stopped even if ABORT is
released (ABORT OFF) at abort completion.
5. The positioning completion signal POSCOMP (bit D of IWC000) is
ON upon entering the positioning completion range (OWC00E) fol-
lowing feed completion (bit 2 of IWC015 is ON).
6. Release stepping in the motion commands when positioning is com-
plete.
Note: Stepping detects the boot-up. Therefore, it is
necessary to set the motion commands to NOP
for at least one scan, and to reset stepping into
the motion commands once stepping has been
executed.
User Program Example (stepping)
Example of Running a Stepping Pattern
STEP
Completion Condition Check
return (STEP Completion)
YES
NO
YES
NO
Motion Command Response = STEP?
Motion Commnad Status
BUSY=OFF?
return (Other motion command
executing)
return (STEP executing)
STEP
Motion
Speed (%)
0
Rated Speed
Linear
Acceleration
Time Constant
Linear
Deceleration
Time Constant
100%
Fast Feed
Speed