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Chapter 9. Standard Input/ Output Signal
6) STEP operation (incremental movement)
This operation is for manual operation to move by increment from the current position. If the
input contact X1.0 is entered, then the X axis and Y axis move to a number in the L100 and
L101 respectively, and if the input contact X1.1 is entered, then the X axis and Y axis move
to a number in the L102 and L103 respectively. Set the execution movement velocity into L104.
LOADP X1.0
ORP X1.1
SET M0.0
SET M87.C Æ M87.C[I1] X axis incremental position setup
SET M87.D Æ M87.D[I2] Y axis incremental position setup
SET M87.E Æ M87.E[S1] X axis setup bit
SET M87.F Æ M87.F[S2] Y axis setup bit
LOAD M0.0
AND NOT M50.A Æ M50.A[STP] STEP mode state bit
OUT M80.A Æ M80.A[STP] STEP mode commanding bit
LOADP X1.0
GET L100 M81 Æ
A command to set the L100 value to the M81 and M82 of X axis incremental distance
GET L101 M83 Æ A command to set the L101 value to the M83 and M84 of Y axis incremental distance
LOADP X1.1
GET L102 M81 Æ
A command to set the L102 value to the M81 and M82 of X axis incremental distance
GET L103 M83 Æ A command to set the L103 value to the M83 and M84 of Y axis incremental distance
LOADP X1.0
ORP X1.1
GET L104 M85 Æ
A command to set the L104 value to the M85 and M86 STEP velocity bit
LOAD M0.0
AND M50.A Æ M50.A[STP] STEP mode state bit
AND NOT M50.6 Æ M50.6[MR1] X axis motor movement output bit
AND NOT M50.7 Æ M50.7[MR2] Y axis motor movement output bit
OUT M80.2 Æ M80.2[ST] STEP movement commanding bit
LOAD M50.6 Æ M50.6[MR1] X axis motor movement output bit
OR M50.7 Æ M50.7[MR2] Y axis motor movement output bit
OR M80.1 Æ M80.1[ERS] External RESET signal
RST M0.0
The above functions can be replace by a PLC motion related application command as follows:
LOAD X1.0
ISTEP L100 L104 Æ Set the L100 to the X axis setting value, the L101 to the Y axis
setting value, and the velocity to the L104 setting value.
LOAD X1.1
ISTEP L102 L104 Æ Set the L102 to the X axis setting value, the L103 to the Y axis
setting value, and the velocity to the L104 setting value.
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