YASKAWA XTRAWARE - V3.0 - Page 7

Table of Contents
4.11.3. Interrupt Response Time ....................................................................... 76
4.11.4. Interrupt Masks.................................................................................... 77
4.11.5. Interrupt Handling ................................................................................ 77
4.11.6. Interrupt Variables ............................................................................... 77
4.11.7. Interrupt Commands............................................................................. 80
4.11.8. Interrupt Example ................................................................................ 82
4.12. Master-Slave Synchronization...................................................................85
4.12.1. Using New_move_enable to Reduce Response Time .................................. 85
4.12.2. Overriding New_move_enable ................................................................ 85
4.12.3. Example Program for a Flying Shear Application........................................ 85
5. COMMAND REFERENCE ............................................................ 87
5.1. XtraWare Modes........................................................................................88
5.1.1. Program Mode (User Program Buffer UPB)................................................... 88
5.1.2. Sequential Mode (Sequential Command Buffer SCB) ..................................... 88
5.1.3. Immediate Mode (Immediate Command Buffer ICB) ..................................... 89
5.2. SCB and UPB Command Flushing...............................................................89
5.2.1. Motion Commands With _D Suffix .............................................................. 89
5.2.2. Motion Commands Without _D Suffix.......................................................... 89
5.3. Motion Modes............................................................................................90
5.3.1. Transition Between Motion Modes............................................................... 91
5.4. Motion Command Buffer............................................................................93
5.5. XtraWare Commands.................................................................................93
ACCELERATION ................................................................................................. 96
ALARM_RESET .................................................................................................. 97
CALL................................................................................................................ 98
CONTROL ......................................................................................................... 99
DELAY............................................................................................................ 100
ECAM_DISENGAGE .......................................................................................... 101
ECAM_ENGAGE ............................................................................................... 102
ELECTRONIC_GEAR ......................................................................................... 103
END............................................................................................................... 104
ENGAGE_VIRTUAL_AXIS................................................................................... 105
EXT_INT......................................................................................................... 106
FAST_OUTPUT_SETTING................................................................................... 107
FAULT_MANAGER ............................................................................................ 110
FAULT_MANAGER_RETURN ............................................................................... 111
FAULT_MESSAGE_CLEAR .................................................................................. 112
GAIN ............................................................................................................. 113
GO ................................................................................................................ 114
GO_D ............................................................................................................ 115
GO_H ............................................................................................................ 116
GO_TO........................................................................................................... 118
HOME Commands ............................................................................................ 118
HARD_HOME................................................................................................... 119
HOME_C......................................................................................................... 120
XtraWare User Manual iii