Remote Command & Status Value List - Yamaha SRCD User Manual

CHAPTER2 PROFIBUS Unit
2-12-2 Remote command & status value list
The remote command code and status code are expressed in the hexadecimal mode.
Remote Command
Remote Command
(QWn+10,QWn+8)
0000xxxx The command of the code xxxx is executed.
0001xxxx The command of the code xxxx is executed
with the current position information indicated
at IWm+16 to IWm+22.
Status
Status value (IWm+8)
0000 Command ready
0100 Command executing
0200 Command normal end
40xx Error occurrence
80xx X axis alarm occurrence
81xx Y axis alarm occurrence
1. Robot movement
Remote Command (QWn+8)
No.
Code Command details
1. 0101 Return-to-origin execution
2. 0102 Program reset
3. 0103 Automatic operation start
4. 0104 Step operation start
5. 0105 Servo status change
6. 0106 JOG movement (inching)
7. 0107 JOG movement
8. 0108 Direct position specification
movement execution
9. 0109 Position specification
movement execution
10. 010A Movement stroke specification
movement execution
11. 010B General-purpose input
response movement execution
Meaning of command
Meaning of status
(xx: Error code)
(xx: Alarm code)
(xx: Alarm code)
Command option
Option
Axis
Axis
Status
Axis
Movement direction
Axis
Movement direction
Axis
Speed
X axis position
Y axis position
Axis
Point number
Speed
Axis
Point number
Speed
Axis
Point number
DI/SI number
0 or 1
62
Command response
register response
QWn+12
QWn+12
QWn+14
QWn+12
QWn+14
QWn+12
QWn+14
QWn+12
QWn+14
QWn+18,
QWn+16
QWn+22,
QWn+20
QWn+12
QWn+14
QWn+16
QWn+12
QWn+14
QWn+16
QWn+12
QWn+14
QWn+16
QWn+18
register