YASKAWA SGDV-OCA05A

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