Emotiontek MCU 2 Axis - Page 103

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Chapter 4. PLC Program
19) ISTEP+ or ISTEP
(1) Definition
The X/Y axis +direction relative position movement(ISTEP or ISTEP+) application command
executes a +direction relative position movement function by a designated velocity,
completes the execution of +direction relative position movement by starting a command
via a rise edge input, and outputs the completion of execution.
--- A relative position value can be designated by using a P variable or L variable
--- For a movement velocity designation value, you can use an F variable or L variable.
--- When using an L variable as a relative position designation value, the designated
address is used as an X axis position value and the next address is used as a Y
axis position value.
The output is turned ON after completing the execution of a ISTEP+ application command,
and is reset(OFF) during movement by another movement command.
(2) Sequence and timing chart
LOAD X0.0
ISTEP+ P0 F0
/*ISTEP P0 F0
OUT Y0.0
X0.0
ISTEP+
REQ OUT
X0.0 Y0.0
2000
Y0.0
P0
POS
VELF0
CUR-Y
POSITION
?
P0_X
1234
?+P0_Y(?+5678)
F0
2000
POSITION MOVE
CURRENT
VELOCITY
?
P0_Y
5678
CUR-X
POSITION
? ?+P0_X(?+1234)POSITION MOVE ?
Example of use: -- ISTEP+ P0 F0 or ISTEP P0 F0 -- ISTEP+ L0 F0 or ISTEP L0 F0
-- ISTEP+ P0 L10 or ISTEP P0 L10 -- ISTEP+ L0 L10 or ISTEP L0 L10