Yamaha SRCD User Manual page 86

CHAPTER2 PROFIBUS Unit
(14) Distance specification arch motion definition .................... Code 010E
The arch motion of the distance specification is defined.
QWn+22
IWm+22
(Details)
Axis: It is the execution axis number of the arch motion. 1 means X axis,
and 2 means Y axis.
Specified distance:
It is the movement position (relative position of origin reference)
of the arch motion execution axis.
The position can be specified in the range of -9999 to 9999 in the
millimeter units.
(Example)
Transmission example 1:
The arch motion in which Y axis returns by -100.00 is defined.
Response example 1:
It is normally ended.
CAUTION
!
This command is invalid for single-axis controllers.
! CAUTION
Since the current position on the program does not vary if the movement is in-
terrupted due to the stop (interlock), etc., the movement can be continued by
executing the command again. However, if resetting is executed, the current po-
sition on the program will be initialized at the position of the robot.
Command option
QWn+20 QWn+18
Command response
IWm+20 IWm+18
QWn+22 QWn+20 QWn+18
0000 0000 0000
IWm+22 IWm+20 IWm+18
0000 0000 0000
80
QWn+16 QWn+14
Specified distance
IWm+16 IWm+14
QWn+16 QWn+14 QWn+12
0000 FF9C 0002
IWm+16 IWm+14 IWm+12
0000 0000 0000
QWn+12
Axis
IWm+12
QWn+10 QWn+8
0000 010E
IWm+10 IWm+8
0000 0200