Yaskawa MP940 Reference Manual - Manual (Page 485)

Stepping (STEP) MotionSuite™ MP940 Machine Controller Reference Manual
11-88
Ladder Program Example
Although the examples in the above figures are extremely simplified, in
reality each of the register types can be freely controlled by the user
program.
IFON
H0101
RUNMOD
OWC000
0000002000
STEP
OLC028
RUN
OBC0010
SB000004
DIRECTION
OBC0212
SB000004
8
MCMDCODE
OWC020
IEND
DB000010 MCMDRCOD
IWC014 =00008
POSCOMP
IBC000B
DB000010
IFON
0
MCMDCODE
OWC020
IEND
DEND
STEP Motion (STEP)
(2000 pulses)
Position control mode ON
Run Command (RUN) to Drive
Executes stepping (STEP) as a motion
command
Stepping (STEP) begins when IB00304 is
ON. The axis moves for the stepping motion
only in a forward direction.
When motion is complete, the positioning
completion signal IBC000D goes ON.
The next motion command is cleared
(=NOP command) after motion
completion.
Upward Trasfer Detection
DB000000 RUNPB
IB00304