YASKAWA MP2100 Series User Manual page 369

11 SVR Virtual Motion Module
11.3.2 Motion Command Details
(7) STEP Operation (STEP)
The STEP command executes 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.
(a) Operating Procedure
No.
1 There are no alarms.
2 The Servo ON condition.
3 Motion command execution has been completed.
Set the motion setting parameters.
• Step Distance: OL
• Direction of Movement: OB
• Travel Speed: OL
• Acceleration/Deceleration Filter Type:
OW
Execute the STEP operation command.
• Set OW
STEP operation starts.
• IW
Position proximity reached.
• IB
Positioning completed.
• IB
Execute NOP motion command.
• Set OW
Note: The following position information is updated during command execution.
• Machine Coordinate Target Position (TPOS) (IL
• Target Position (CPOS) (IL
• Machine Coordinate System Position (MPOS) (IL
• Machine Coordinate Feedback Position (APOS) (IL
11-30
Execution Conditions
44
092
10
03
08 to 8.
08 will be 8 during execution.
0C3 will turn ON.
0C1 will turn ON.
08 to 0.
Both IL
IB 001 is ON.
IW
Speed (%)
100%
0
OW 08 = 8 (STEP)
IW 08 = 8 (STEP)
IB 090 (BUSY)
IB 098 (COMPLETE)
IB 0C0 (DEN)
IB 0C1 (POSCOMP)
IB 0C3 (NEAR)
• The travel speed can be changed during movement.
• Set OB 090 to 1 to hold the command.
• Set OB 091 to 1 to abort the execution.
OE)
10)
12): MPOS is always equal to CPOS.
16): APOS is always equal to CPOS.
Confirmation Method
02 and IL 04 are 0.
08 is 0 and IB 090 is OFF.
Rated speed
Feed speed
Step
Distance
Linear acceleration time
Time (t)
Linear deceleration time