13.4 Programmed Operation
13.4.6 Starting Programmed Operation
13-30
13.4.6
Starting Programmed Operation
To start programmed operation, specify the starting command block number in a command
message in I/O communications. When programmed operation starts, the SERVOPACK will
continuously execute the command blocks. The host controller does not need to continuously
send commands to the SERVOPACK using command messages.
Use the following procedure to start programmed operation.
1.
Set the block number of the first block to execute in the Block Number field (byte 1).
2.
Set the Valid Data bit to 1.
3.
Set the Start Block bit to 1.
When programmed operation starts, the SERVOPACK executes the block command that is
registered in attribute 1 of the command block that is specified with the command block num-
ber (which is the instance ID).
The command block with the block number that is set in the Link Number attribute (attribute 2)
will be executed next. The command blocks will then be executed in sequence until the link
number is 0x00.
While the command blocks are being executed, the Block In Execution bit will be set to 1. After
all the command blocks have been executed, the Block In Execution bit will be cleared to 0.
Bytes Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0
1
Enable
1
Valid
Data
0
Hard
Stop
0
Smooth
Stop
0
Direction
(V mode)
0
Absolute/
Incremental
1
Start
Block
0
Start
Trajectory
1 0x01 Block Number
2 0x1 Axis Instance 0x00 Command Assembly Code
3 0x1 Axis Instance 0x01 Response Assembly Code
4 0x00
5 0x00
6 0x00
7 0x00
0
1
0
1
0
1
Block Number = 1
Block
Number = 2
Delay
command
Block
Number = 5
Target Speed
Change command
Block
Number = 1
Trajectory and
Wait command
Block
Number = 3
Trajectory
command
Block
Number = 4
Conditional Link Greater
/Less Than command
Execute Block No.
Motor speed
Valid Data
Start Block
Block In Execution
Block Number
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