Yaskawa MP940 Reference Manual - Manual (Page 482)

MotionSuite™ MP940 Machine Controller Reference Manual Stepping (STEP)
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Stepping (STEP)
Executes positioning at fast feed speed in a designated direction according to a desig-
nated accel/decel time constant for a designated motion range (STEP motion). The
fast feed speed can even be changed during operation. When the travel distance is
modified during operation, the value is reflected in the following step (STEP) execu-
tion.
Detailed Description
The order of operations in step feed is shown below.
1. Set initial fixed motion parameter and motion setting parameter values
to match the customer's machine.
2. Select the position control mode (PCON) (bit 2 of OWC000).
3. Sets the STEP travel distance (PLC028) and fast feed speed (OLC022
or OWC015).
4. Set the motion setting parameters used in step feed (STEP).
5. Turn the RUN command (Bit 0 of OWC001) ON.
Signifies execution by the system
Signifies execution by the user
1. Fixed Motion Parameter Setting
Initial setting of motion setting parameters
2. Position Control Mode (PCON) Selection
3. Setting of motion setting parameters
4. Servo ON (RUN)
8. Motion Command Release
(Execution NOP (=0))
6. Start of stepping operation
7. Positioning Completion Signal
(POSCOMP) ON
5. Motion Command
Stepping (STEP) execution
PCON
RUN
Motion Command
(STEP)
STEP
Motion
Speed (%)
Time (t)
0
Positioning
Completion
Range
POSCOMP
Rated Speed
Linear Acceleration
Time Constant
Linear Deceleration
Time Constant
100%
Fast Feed
Speed