Yaskawa FSP Amplifier FlexWorks - Manual (Page 44)

Operating the FSP Amplifier Using FlexWorks
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4.5. Program Modes
FSP Amplifier has three programming modes:
♦ Program
♦ Immediate
♦ Sequential
Each mode utilizes an individual buffer for commands and program
processing and execution. Note that not all of the commands are
available in all the program modes. A full explanation on the use of
the buffers is provided in the introductory section of Chapter 5,
Command Reference.
4.5.1. Program Mode
Use this mode when writing a program that is to be executed after
the entire program has been written (see Section 4.4.1, Writing a
Program). This mode stores the program in the User Program
Buffer (UPB). Program execution is activated by the RUN command
(see Section 4.4.3, Running a Program).
4.5.2. Immediate Mode
Use this mode to issue a single command for immediate execution
or when sending a single command from a host PC (for example, to
change the state of an output while a program is running or to
lower the gain while the motor is enabled and not in motion and no
program is running). Commands sent in Immediate Mode are
stored in the Immediate Command Buffer (ICB) and are executed
within 2 ms (or less).
4.5.3. Sequential Mode
Use this mode when using a host PC that sends a command stream
that should be executed as a program (move the motor and wait
for motion completion; wait for input; make another move, etc.).
Immediate mode cannot be used in such cases because commands
like MOVE_D (move the motor and wait for motion completion) are
not available in Immediate mode.