YASKAWA MP2100 Series User Manual

8.8 STEP Operation (STEP)
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8.8 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. The speed can be changed during axis
movement.
(1) Operating Procedure
(2) Holding
Axis travel can be stopped during command execution and then the remaining travel can be restarted. A com-
mand is held by setting the Command Pause bit (OB

090) to 1.
1. Set the Command Pause bit (OB

090) to 1. The axis will decelerate to a stop.
When the axis has
stopped, the Hold Completed bit (IB
091) will turn ON.
2. Reset the Command
Pause
bit (OB
090) to 0. The command hold status will be cleared and the remain-
ing portion of the positioning will be restarted.
(3) Aborting
Axis travel can be stopped during command execution and the remaining travel cancelled by aborting execution
of a command. A command is aborted by setting the Command Abort bit (OB

091) to 1.
Set the Command Abort bit (OB

091) to 1. The axis will decelerate to a stop. When the axis has stopped, the
Positioning Completed bit (IB

01C) will turn ON.
This type of operation will also be performed if the motion command is changed during axis movement.
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.
Set the motion setting parameters.
• Step Travel Distance: OL

44
• Direction of Movement: OB

092
• Travel Speed: OL

10
• Acceleration/Deceleration Filter Type:
OW

03
• Speed Loop P/PI Switch: OW

01
• The travel speed can be changed during movement.
• An override of between 0% to 327.67% can be set for the travel
speed.
• Set OB

090 to 1 to hold the command.
• Set OB

091 to 1 to abort execution.
Execute the STEP operation command.
• Set OW

08 to 8.
STEP operation starts.
• IW
08 will
be 8 during execution.
Position proximity reached.
• IB

0C3 will turn ON.
Positioning completed.
• IB

0C1 will turn ON.
Execute NOP motion command.
• Set OW

08 to 0.
STEP travel
distance
Speed (%)
0
Rated speed
Linear
Acceleration Time
Linear
Deceleration Time
100%
Travel
speed

YASKAWA MP2100 Series Specifications

General

Brand	YASKAWA
Model	MP2100 Series
Category	Controller
Language	English