Yaskawa MP920 User's Manual Design - Manual (Page 192)

4 Motion Control
4.4.8 Fixed Length Feed (STEP)
4-78
The axis performs positioning using the specified motion parameter. Even during fixed
length feed operations, the motion parameter settings can be changed.
The fixed length feed command operations are as follows:
a) Operation Start
Servo ON (bit 0 of OW††01).
Set fixed length feed (STEP) in the motion command code (OW††20).
b) Feed Hold
Set Hold (bit 0 of OW††21) to ON.
At feed hold completion, HOLDL (bit 1 of IW††15) turns ON.
c) Feed Hold Release
Set Hold (bit 1 of OW††21) to OFF. Positioning resumes.
d) Abort
Set Abort (bit 1 of OW††21) to ON, or set NOP (= 0) in the motion command code.
Note: Even when the abort is completed and the abort is released (ABORT
turns OFF), operations remain stopped.
YES
YES
YES
NO
NO
NO
YES
NO
Return (OK)
STEP
Start condition check
Control mode =
position control mode?
Return (NG)
Motion command code
=NOP ||ENDOF_INTERPOLATE?
Motion command response
=NOP ||STEP||POSING||
INTERPOLATE ||
ENDOF_INTERPOLATE?
Motion command status
BUSY=OFF?
Return (NG)