Yaskawa MP940 - Manual (Page 480)

Motion Control
11.4.8 Fixed Length Feed (STEP)
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11.4.8 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 OWC000).
3. Set the Step travel distance (OLC028) and the Rapid Traverse Speed (OLC022 or
OWC015).
Set the motion setting parameter to be used with fixed length feed (STEP).
4. Set Servo ON (RUN) to ON (bit 0 of OWC001).
5. Set fixed length feed (STEP = 8) to the motion command code (OWC020).
6. Start operation using the fixed length feed (STEP).
PCON
RUN
0
POSCOMP
100%
1 Set the motion fixed parameters.
Set the motion setting parameter initial val-
ues.
2 Set the position control mode (PCON).
3 Set the motion setting parameters.
4 Set Servo ON (RUN) to ON.
5 Execute the fixed length feed (STEP)
motion command.
6 Fixed length feed starts.
7 Positioning completed signal (POSCOMP)
turned ON.
8 Execute the motion command (NOP (= 0)).
Motion command
(STEP)
Speed (%)
Rated speed
Rapid
traverse
speed
STEP travel
distance
Time (t)
Linear acceleration time
constant
Linear deceleration time constant
Positioning completed range
: System execution
: User setting