Xtraware Modes; Program Mode (User Program Buffer Upb); Sequential Mode (Sequential Command Buffer Scb) - YASKAWA XTRAWARE - V3.0 Manual

Command Reference
5.1.

XtraWare Modes

Three modes of operation are available:
♦ Program Mode.
♦ Sequential Mode.
♦ Immediate Mode.
5.1.1.

Program Mode (User Program Buffer UPB)

In this mode, a program (a group of commands) is downloaded into the
UPB (User Program Buffer) of the driver. Program commands have the
highest priority.
Program execution is activated by the RUN command or by clicking RUN
on the toolbar.
Motion commands in program mode are first calculated and then inserted
into the motion command buffer (MCB). This enables the setting of an
output or insertion of a certain term immediately after the motion begins
until it ends. Commands with the suffix _D are fetched to the MCB. Only
after their completion (i.e., the MCB is empty) is the next command
fetched.
5.1.2. Sequential Mode (Sequential Command Buffer
SCB)
In this mode, each command is placed in the SCB (Sequential Command
Buffer) and processed sequentially. If no program is running, a command in
the SCB is executed immediately after the previous command in the SCB
has been executed.
In sequential mode, motion commands that are executed through the MCB
are handled as follows: A motion command fetched from the SCB is moved
into the MCB. The MCB will then execute the motion command after the
previously sent motion command has been completed.
Note:
When you issue a motion command (MOVE, MOVE_D, GO,
GO_D, SLIDE), the motion is calculated internally by the
controller and then placed in a "motion queue" inside the
motion command buffer (MCB). Therefore, changes made in
profile commands (ACCELERATION, SPEED, JERK) in
Immediate mode do not affect motions that are already in the
MCB.
88 XtraWare User Manual