Yamaha SRCD User Manual page 117

(12) Operation mode check .......................................................... Code 020C
The robot status is read.
QWn+22
IWm+22
(Details)
Operation mode:
0: Stop status 1: The program is being executed with the commu-
nication of HPB, personal computer , etc. 2: The program is being
executed with I/O command.
(Example)
Transmission example 1:
The robot status is read.
Response example 1:
0 (stop status) is established.
! CAUTION
The data handling with the remote command is received during stop alone. Ac-
cordingly, the response of this mode is set to 0 (stop status) alone.
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
111
CHAPTER2 PROFIBUS Unit
QWn+16 QWn+14
IWm+16 IWm+14
QWn+16 QWn+14 QWn+12
0000 0000 0000
IWm+16 IWm+14 IWm+12
0000 0000 0000
QWn+12
IWm+12
Operation mode
QWn+10 QWn+8
0000 020C
IWm+10 IWm+8
0000 0200