Yaskawa MP920 Motion Module - Manual (Page 104)

2 Motion Control
2.4.8 Fixed Length Feed (STEP)
2-78
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
Set RUN Servo ON (bit 0 of OW††01) to ON.
For the PO-01 Module, set Excitation ON (RUN) to ON.
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.
When the axis enters the Positioning Completed Range (OW††0E) after Distribution
Completed (bit 2 of IW††15 is ON), the POSCOMP Positioning Completed Signal
(bit 13 of IW††00) turns ON.
YES
YES
YES
NO
NO
NO
YES
NO
STEP
Start condition check
Control mode =
position control mode?
Motion command status
BUSY = OFF?
Return (OK)
Return (NG)
Return (NG)
Motion command response
= NOP||STEP||POSING||
INTERPOLATE||
ENDOF_INTERPOLATE?
Motion command code
= NOP||ENDOF_INTERPOLATE?