Yaskawa FSP Amplifier FlexWorks - Manual (Page 104)

Command Reference
104
5.1.3. Immediate Mode (Immediate Command Buffer
ICB)
In immediate mode, commands are placed in the ICB and executed
immediately. If a program is running or sequential commands are
being executed, an immediate command is fetched only when a
delay in the program or the sequential commands occurs. For
example, when a MOVE_D command is executed, it pauses the
execution of subsequent commands. During that pause, commands
from the immediate command buffer can be fetched and executed.
An exception is the STOP_EX command, which is executed
immediately.
5.2. SCB and UPB Command Flushing
Motion command flushing from the SCB or UPB depends on the
command type:
5.2.1. Motion Commands With _D Suffix
These commands are flushed from the SCB or UPB only when the
corresponding movement is terminated according to the precision
requirement setting, i.e., subsequent commands in the buffer are
executed immediately following movement termination of the _D
command. For example, setting an output will occur at the end of
the movement.
5.2.2. Motion Commands Without _D Suffix
These commands are transferred to the MCB, and are flushed from
SCB or UPB immediately following execution. This enables you to
enter a number of motion commands. While the motion commands
are being executed by the drive, other commands can be executed
sequentially.
5.3. Motion Modes
The motion commands are divided into Motion modes as described
below. The current motion mode can be read from the
Motion_mode variable.
♦ Position: Motion commands (MOVE, GO, MOVE_D, GO_D) are
calculated and a trajectory movement speed and duration are
determined.
♦ Velocity: The velocity command (SLIDE) can be sent and
changed at any time, while keeping acceleration and jerk within
the limits defined by the relevant variables.