YASKAWA SVC - STEP (STEP Operation)

4.2 Motion Command Details
4.2.7 STEP (STEP Operation)
4
Motion Control Program Commands and Instructions
4-55
4.2.7 STEP (STEP Operation)
The STEP command performs positioning for the specified travel distance based on the speci-
fied travel direction, travel distance, and travel speed.
Execution and Operating Procedures
1. Make sure that all of the following conditions are met.
* Before you change to this command during the execution of another command, you must check whether
the command can be changed and how operation changes when the command is changed. Refer to the
following section for details on changing from another command.
4.4 Changing the Command on page 4-137
2. Set the following setting parameters.
• OW01, Bit 3 (Speed Loop P/PI Switch)
• OW03, Bits 8 to B (Filter Type Selection)
• OW09, Bit 2 (Travel Direction for JOG/STEP)
• OL10 (Speed Reference Setting)
• OW12 (Speed Limit)
• OL14 (Torque/Force Limit)
• OL36 (Linear Acceleration Rate/Acceleration Time Constant)
• OL38 (Linear Deceleration Rate/Deceleration Time Constant)
• OL44 (STEP Travel Distance)
3. Set the OW08 setting parameter (Motion Commands) to 8 to execute the STEP
motion command.
The STEP operation starts. During the jogging operation, the IW08 monitor parameter (Motion
Command Response Code) is 8.
When the target near position is reached, bit 3 (Near Position) in the IW0C monitor parameter
will change to 1 (Within near position range).
Then, when the target position is reached, bit 1 in the IW0C monitor parameter will change to 1
(Within positioning completed range) and positioning will end.
4. Set OW08 to 0 to execute the NOP motion command.
This concludes the STEP operation.
No. Execution Condition Confirmation Method
1 There must be no alarms. Both IL02 and IL04 must be 0.
2 The Servomotor’s power must be ON. Bit 1 in IW00 must be 1.
3
Motion command execution for the target axis
must be completed.*
IW08 must be 0 and bit 0 in
IW09 must be 0.
• OL10 can be changed during motion.
• An override of between 0% and 327.67% can be set for OL10.
• OL14 can be changed at any time. The intended operation may not be achieved
if the set value is too small.
• If OL36 and OL38 are changed during operation, the specifications of the
SERVOPACK determine whether these changes are applied to acceleration and decel-
eration.
Information