YASKAWA XTRAWARE - V3.0, Manual

Page: 43 / 263

Operating the XtraDrive Using XtraWare
4.5. Program Modes
XtraDrive 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.
XtraWare User Manual 33