Block Command Details - YASKAWA SGD7S Product Manual

13.4 Programmed Operation

13.4.3 Block Command Details

13.4.3 Block Command Details

Attribute Change Command
Use the Attribute Change command to change the value of an attribute. You can change the
values of only the attributes that are listed in the following table. No other attributes can be
changed.
The table that is provided below gives the data format for the Attribute Change command.
Class
0x25
0x25
0x26
Attribute
*
If the link number is 0, the block is the final block in the sequence.
Wait Equals Command
The Wait Equals command stops the execution of a sequence of blocks until the value of a
specified attribute equals a set value. When the specified attribute equals the set value, the
block will end and the next linked block will be executed.
The following table gives the attributes that can be compared.
Class
0x25
0x25
Attribute
*
If the link number is 0, the block is the final block in the sequence.
13-24
Instance
1
1
1
Name
1 Block Command Code
2 Link Number
3 Target Class
4 Target Instance
5 Attribute Number
6 Attribute Value
Instance
1
1
Name
1 Block Command Code
2 Link Number
3 Target Class
4 Target Instance
5 Attribute Number
6 Compare timeout value
7 Compare value
Attribute Description of Attribute
8 Acceleration rate
9 Deceleration rate
6 Counter
Data Type
USINT Code = 0x01
Number of the next command block to
USINT
execute*
USINT Class of attribute to change
USINT Instance ID of attribute to change
USINT ID of attribute to change
DINT New value of attribute to change
Attribute Description of Attribute
13 Current position (reference units)
15 Reference position (reference units)
Data Type
USINT Code = 0x02
Number of the next command block to
USINT
execute*
USINT Class of attribute to compare
USINT Instance ID of attribute to compare
USINT ID of attribute to compare
If the values do not match within the set
time, a timeout will occur.
Setting range: 0 to 0x7FFFFFFF
DINT
Unit: ms
Set the timeout value to 0 to wait indefi-
nitely.
DINT Value to compare to value of attribute
Description of Attribute
Description of Attribute