YASKAWA MP2200

8.3
Motion Commands
8-31
( 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. The speed can be changed
during axis movement.
[ a ] Operating Procedure
（Note） The following position information is updated during command execution.
• Machine Coordinate Target Position (TPOS) (IL

0E)
• Target Position (CPOS) (IL

10)
• Machine Coordinate System Position (MPOS) (IL

12): MPOS is always equal to CPOS.
• Machine Coordinate Feedback Position (APOS) (IL

16): APOS is always equal to CPOS.
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 Distance: OL

44
• Direction of Movement: OB

092
• Travel Speed: OL

10
• Acceleration/Deceleration Filter Type:
OW

03
• The travel speed can be changed during movement.
• Set OB

090 to 1 to hold the command.
• Set OB

091 to 1 to abort the 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.
100%
0
OW08 = 8 (STEP)
IW08 = 8 (STEP)
IB090 (BUSY)
IB098 (COMPLETE)
IB0C0 (DEN)
IB0C1 (POSCOMP)
IB0C3 (NEAR)
Linear acceleration
time
Linear deceleration
time
Feed speed
Rated speed
Speed (%)
Time (t)
Step
Distance
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