Yaskawa MP920 Motion Module - Manual (Page 103)

2.4 Position Control Using Motion Commands
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2.4.8 Fixed Length Feed (STEP)
„ Overview
This command positions the axis at rapid traverse speed in the specified direction for only
the specified travel distance (STEP travel distance) using the specified acceleration/deceler-
ation time constant.
The rapid traverse speed can be changed during operations.
When you change the travel distance during operations, the changed value will be incorpo-
rated when the next fixed length feed (STEP) is executed.
„ Details
Use the following procedure to perform fixed length feed operations.
1. Set the initial values for the motion fixed parameters and the motion setting parameters
according to the user’s machine.
2. Set the Position Control Mode (PCON) (bit 2 of OW††00).
3. Set the Step travel distance (OL††28) and the Rapid Traverse Speed (OL††22 or
OW††15).
Set the motion setting parameters to be used with fixed length feed (STEP).
4. Set RUN Servo ON (RUN) to ON (bit 0 of OW††01).
For the PO-01 Module, set Excitation ON (RUN) to ON.
5. Set fixed length feed (STEP = 8) to the motion command code (OW††20).
Fixed length feed (STEP) will be started.
1. Set the motion fixed parameters.
Set the motion setting parameter initial values.
2. Set the position control mode (PCON).
3. Set the motion setting parameters.
4. Set Servo ON (RUN) to ON.
6. Execute the motion command
(NOP (= 0)).
Fixed length feed started to the axis.
5. Execute the fixed length feed (STEP)
motion command.
PCON
POSCOMP
Linear acceleration constant
Positioning completed range
Linear deceleration constant
Speed (%)
100%
Rated speed
Time (t)
RUN
Motion command
(STEP)
0
Positioning completed signal (POSCOMP)
turned ON.
: System execution
: User settings
STEP
travel
distance
Rapid traverse
speed