Yamaha SRCD User Manual page 124

CHAPTER2 PROFIBUS Unit
(19) Current shift data read ........................................................... Code 0213
The currently set shift data is read.
QWn+22
IWm+22
Y axis position
(Details)
Axis position: The shift data is indicated (unit: 0.01mm). When the robot is set at
the rotary axis, the unit of the position is 0.01 degrees.
Single-axis controllers does not use IWm+20 to IWm+22.
(Example)
Transmission example 1:
The current shift data is read.
Response example 1:
The shift data is X=150.00, Y=250.00.
Command option
QWn+20 QWn+18
Command response
IWm+20 IWm+18
X axis position
QWn+22 QWn+20 QWn+18
0000 0000 0000
IWm+22 IWm+20 IWm+18
0000 61A8 0000
118
QWn+16 QWn+14
IWm+16 IWm+14
QWn+16 QWn+14 QWn+12
0000 0000 0000
IWm+16 IWm+14 IWm+12
3A98 0000 0000
QWn+12
IWm+12
QWn+10 QWn+8
0000 0213
IWm+10 IWm+8
0000 0200