Emotiontek MCU 2 Axis - Page 108

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Chapter 4. PLC Program
24) ISTEPY-
(1) Definition
The Y axis -direction relative position movement(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
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
-- ISTEPY- L0 F0
-- ISTEPY- P0 L10
-- ISTEPY- L0 L10