Emotiontek MCU 2 Axis - Page 105

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Chapter 4. PLC Program
21) ISTEPX or ISTEPX+
(1) Definition
The X axis +direction relative position movement(ISTEPX or ISTEPX+) 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
--- A movement velocity value can be designated by using an F variable or L variable.
The output is turned ON after completing the execution of a ISTEPX+ application command,
and is reset(OFF) during movement by another movement command.
(2) Sequence and timing chart
LOAD X0.0
ISTEPX+ P0 F0
/*ISTEPX P0 F0
OUT Y0.0
X0.0
ISTEPX+
REQ OUT
X0.0
Y0.0
2000
Y0.0
P0
POS
VELF0
CURRENT
POSITION
?
P0_X
1234
?+P0_X(?+1234)
F0
2000
POSITION MOVE
CURRENT
VELOCITY
?
?
Example of use:
-- ISTEPX+ P0 F0 or ISTEPX P0 F0
-- ISTEPX+ L0 F0 or ISTEPX L0 F0
-- ISTEPX+ P0 L10 or ISTEPX P0 L10
-- ISTEPX+ L0 L10 or ISTEPX L0 L10