Yaskawa MP2200 Machine Controller - Manual (Page 297)

5.2 Motion Command Details
5-67
[ c ] Execution when an Alarm Occurs
5.2.7 STEP Operation (STEP)
The STEP command executes a positioning for the specified travel direction, moving amount, and
travel speed.
Parameters related to acceleration and deceleration are set in advance. The speed can be changed
during axis movement.
( 1 ) Operating Procedure
1 scan
OW 08 = 7 (FEED)
IW 08 = 7 (FEED)
IB 090 (BUSY)
IB 098 (COMPLETE)
IB 093 (FAIL)
IB 0C0 (DEN)
Alarm
No. Execution Conditions Confirmation Method
1 There are no alarms. Both IL††02 and IL††04 are 0.
2 The Servo ON condition. IB††001 is ON.
3 Motion command execution has been completed. IW††08 is 0 and IB††090 is OFF.