Yaskawa MP940 - Manual (Page 482)

Motion Control
11.4.8 Fixed Length Feed (STEP)
11-80
8. Once positioning has been completed, the fixed length feed motion command is
released.
Note: Fixed length feed is detected at the rising edge. Therefore, when fixed
length feed has been executed, the motion command must be set to
NOP for 1 scan or more, and fixed length feed must be reset as the
motion command.
„ User Program Example: Fixed Length Feed
Example of RUN Operation
Fig 11.28 Example of a Fixed Length Feed Pattern
STEP
YES
NO
YES
NO
＝ STEP?
BUSY=OFF?
End condition check
Motion command response
Return (Other motion
command executing)
Motion command status
Return (STEP
executing)
Return (STEP
completed)
0
100%
Speed (%)
Rated speed
Rapid traverse
speed
STEP
travel
distance
Linear acceleration
time constant
Linear deceleration
time constant