13.4 Programmed Operation
13.4.3 Block Command Details
13-26
Decrement Counter Command
The Decrement Counter command decrements by one the counter that is used for loop con-
trol. The following table gives the data format for the Decrement Counter command.
* If the link number is 0, the block is the final block in the sequence.
Delay Command
The Delay command inserts a delay time before the execution of the next command block. Set
the delay time in increments of 4 ms. If you specify any value that is not a multiple of 4 ms, the
value will be rounded down to the nearest multiple of 4 ms. The following table gives the data
format for the Delay command.
* If the link number is 0, the block is the final block in the sequence.
Trajectory Command
The Trajectory command starts positioning. After the SERVOPACK starts positioning, the next
command block is executed. The following table gives the data format for the Trajectory com-
mand.
* If the link number is 0, the block is the final block in the sequence.
Trajectory and Wait Command
The Trajectory and Wait command starts positioning. The next command block is not executed
until positioning has been completed. The next command block is executed only after the posi-
tioning operation is completed. The following table gives the data format for the Trajectory and
Wait command.
* If the link number is 0, the block is the final block in the sequence.
Attribute Name Data Type Description of Attribute
1 Block Command Code USINT Code = 0x05
2Link NumberUSINT
Number of next command block to exe-
cute*
Attribute Name Data Type Description of Attribute
1 Block Command Code USINT Code = 0x06
2Link NumberUSINT
Number of next command block to exe-
cute*
3DelayDINT
Delay timer value
Setting range: 0x00000001 to
0x7FFFFFFF
Unit: ms
Attribute Name Data Type Description of Attribute
1 Block Command Code USINT Code = 0x07
2Link NumberUSINT
Number of next command block to exe-
cute*
3 Target Position DINT Target position (reference units)
4 Target Velocity DINT Target speed (reference unit/s)
5 Absolute/Incremental BOOL Absolute (0)/Incremental (1)
Attribute Name Data Type Description of Attribute
1 Block Command Code USINT Code = 0x08
2Link NumberUSINT
Number of next command block to exe-
cute*
3 Target Position DINT Target position (reference units)
4 Target Velocity DINT Target speed (reference unit/s)
5 Absolute/Incremental BOOL Absolute (0)/Incremental (1)
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