Sending Commands - YASKAWA XtraDrive Series User Manual

Sending Commands

Perform the following steps in order to send commands during data
exchange:
1 Select the command module (see Setting Up XtraDrive-DP,
page 25).
2 During data exchange, the master sends the command to the
XtraDrive-DP.
The command message contains the following fields:
✦ ID - A numeric identifier that is used to associate between the
command and the relevant command response or diagnostic.
✦ Op_code - Shown in the table on page 34.
✦ Mode:
❖ Immediate (Mode 2): Use this mode in order to issue a
single command for immediate execution (for example,
changing the state of an output while a program is running,
or lowering the gain while the motor is enabled).
❖ Program download (Mode 4): Use this mode when
downloading a program to the XtraDrive-DP.
❖ Sequential (Mode 3): Use this mode when the master sends
a command stream that should be executed as a program
(for example, move the motor and wait for the motion to
complete, wait for input, or execute another move).
✦ Command Parameter 1 — Command parameter 5 - Command
arguments.
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Working with XtraDrive-DP
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HAPTER
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