Yaskawa MP940 Reference Manual - Manual (Page 483)

Stepping (STEP) MotionSuite™ MP940 Machine Controller Reference Manual
11-86
6. Set stepping (STEP = 8) in the motion commands (OWC020). Step
Feed (STEP) Operation starts.
The axis executes the external positioning operation by a designated motion
parameter. The settings of any motion parameter can be changed even during
the stepping operation. The operation of the stepping command is as follows:
1. Run Start
Turn RUN (bit 0 of OWC001) ON
Set stepping (STEP = 8) in the motion commands (OWC020).
2. Command Hold
Turns the HOLD command (bit 0 of OWC021) ON.
HOLDL (bit 1 of IWC015) is ON at command hold completion.
3. Program Hold Release
Turns the HOLD command (bit 0 of OWC021) OFF.The positioning
operation restarts.
4. Command Abort
STEP
Start Condition Check
Control Mode = Position Control?
Motion Command Code =
NOP||ENDOF INTERPOLATE?
return(OK)
return(NG)
return(NG)
YES
YES
YES
NO
NO
NO
Motion Command Response =
NOP||STEP||POSING
INTERPOLATE||
ENDOF INTERPOLATE?
Motion Commad Status
BUSY=OFF
YES
NO