YASKAWA JEPMC-MP2300-Y Series

7
Motion Commands
7.2.7
STEP Operation (STEP)
7-48
7.2.7 STEP Operation (STEP)
The STEP command executes a positioning for the specified travel direction, moving amount, and
travel speed.
Parameters related to acceleration and deceleration are set in advance.
( 1 ) Executing/Operating Procedure
1.
Check to see if all the following conditions are satisfied.
2.
Set the following motion setting parameters.
Step Distance: OL

44
Travel Direction: OB

092
Speed Reference: OL

10
Acceleration/Deceleration Filter Type: OW

03
Speed Loop P/PI Switch: OW

01

The speed reference bit OL

10 can be changed during operation.

An override of between 0% to 327.67% can be set for the travel speed.
3.
Set OW

08 to 8 to execute the STEP motion command.
STEP operation will start. IW

08 will be 8 during execution.
IB

03 will turn ON when the axis reaches the target position.
IB

0C1 will turn ON when the axis reaches the target position and the positioning has been
completed.
4.
Set OW

08 to 0 to execute the NOP motion command and then complete the
STEP operation.
R
No. Execution Conditions Confirmation Method
1 There are no alarms.
Both IL

02 and IL

04 are 0.
2 The Servo ON condition.
IB

001 is ON.
3 Motion command execution has been completed.
IW

08 is 0 and IB

090 is OFF.
STEP Operating Pattern
Speed (%)
(100%)
0
Time (t)
Travel speed
Rated speed
STEP travel
distance
Linear
Acceleration Time
Linear
Deceleration Time