Yaskawa FSP Amplifier FlexWorks - Manual (Page 103)

Command Reference
103
5.1. FlexWorks Modes
Three modes of operation are available:
♦ Program Mode
♦ Sequential Mode
♦ Immediate Mode
5.1.1. Program Mode (User Program Buffer - UPB)
In this mode, a program (a group of commands) is downloaded into
the UPB of the drive. Program commands have the highest priority.
Program execution is activated by the RUN command or by clicking
RUN on the toolbar.
Motion commands in program mode are first calculated and then
inserted into the motion command buffer (MCB). This enables the
setting of an output or insertion of a certain term immediately after
the motion begins until it ends. Commands with the suffix _D are
fetched to the MCB. Only after their completion (i.e., the MCB is
empty) is the next command fetched.
5.1.2. Sequential Mode (Sequential Command Buffer -
SCB)
In this mode, each command is placed in the SCB and processed
sequentially. If no program is running, a command in the SCB is
executed immediately after the previous command in the SCB has
been executed.
In sequential mode, motion commands that are executed through
the MCB are handled as follows: A motion command fetched from
the SCB is moved into the MCB. The MCB will then execute the
motion command after the previously sent motion command has
been completed.
N OTE :
When you issue a motion command (MOVE, MOVE_D, GO,
GO_D, SLIDE), the motion is calculated internally by the
controller and then placed in a “motion queue” inside the
motion command buffer (MCB). Therefore, changes made in
profile commands (ACCELERATION, SPEED, JERK) in
Immediate mode do not affect motions that are already in the
MCB.