Programmed Operation; What Is Programmed Operation; Command Blocks - YASKAWA SGD7S Product Manual

13.4

Programmed Operation

13.4.1

What Is Programmed Operation?

Programmed operation allows you to set the sequential execution of command blocks in
advance. You can store up to 255 command blocks and specify the execution flow by specify-
ing the next block to execute with the Link Number attribute.
13.4.2

Command Blocks

Command Block Structure
A command block consists of up to seven attributes, as shown in the following table. The num-
ber of attributes that are used depends on the block command code.
Attribute
1
2
3
4
5
6
7
Block Command List
The following table lists the block commands that are supported for programmed operation.
Command Name
Attribute Change command
Wait Equals command
Conditional Link Greater Than
command
Conditional Link Less Than
command
Decrement Counter com-
mand
Delay command
Trajectory command
Trajectory and Wait command
Target Speed Change com-
mand
Goto Origin command
Name
Command Number
Block Command Code
Defines the structure of the command block.
Specifies the number of the next command
Link Number
block to execute.
Depends on the command.
Depends on the command.
Depends on the command.
Depends on the command.
Depends on the command.
Code
0x01 Changes the value of an attribute.
Stops the execution of the next command block until the speci-
0x02
fied attribute reaches the set value.
Branches to the specified block if the value of the specified attri-
0x03
bute is greater than a specified value.
Branches to the specified block if the specified attribute is smaller
0x04
than the specified value.
Decrements by one the value of the counter that is used for loop
0x05
control.
0x06 Inserts a waiting time between the execution of other blocks.
0x07 Starts positioning.
0x08 Starts positioning and waits until the target position is reached.
0x09 Changes the target speed.
0x10 Moves the axis to the origin.

13.4 Programmed Operation

13.4.1 What Is Programmed Operation?

Description
Function
Data Type
USINT
USINT
13
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