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Chapter 4. PLC Program
23) ISTEPY or ISTEPY+
(1) Definition
The Y axis +direction relative position movement(ISTEPY or ISTEPY+) 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 ISTEPY+ application command,
and is reset(OFF) during movement by another movement command.
(2) Sequence and timing chart
LOAD X0.0
ISTEPY+ P0 F0
/*ISTEPY P0 F0
OUT Y0.0
X0.0
ISTEPY+
REQ OUT
X0.0
Y0.0
2000
Y0.0
P0
POS
VELF0
CURRENT
POSITION
?
P0_Y
5678
?+P0_Y(?+5678)
F0
2000
POSITION MOVE
CURRENT
VELOCITY
?
?
Example of use:
-- ISTEPY+ P0 F0 or ISTEPY P0 F0
-- ISTEPY+ L0 F0 or ISTEPY L0 F0
-- ISTEPY+ P0 L10 or ISTEPY P0 L10
-- ISTEPY+ L0 L10 or ISTEPY L0 L10
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