Yamaha SRCD User Manual page 132

CHAPTER2 PROFIBUS Unit
(4) Point data write ....................................................................... Code 0304
The data is written into the specified point.
QWn+22
Y axis position
IWm+22
(Details)
Point number: It is the inherent number of 0 to 999 assigned to each point.
Axis: 0 means all axes, 1 means X axis and 2 means Y axis. On dual-axis
controllers, all axes are also specified when 3 is set.
On single-axis controllers, 0 or 1 alone can be specified.
Axis data:
The position data desired to register is directly specified (Unit:
0.01 mm). When the rotary axis is set for the robot, the unit of the
movement position is 0.01 degrees. If any axis is specified, the
data of other axes not specified is free. It does not matter that the
data of Y axis is free in single-axis controllers.
(Example)
Transmission example 1:
X=25.00 and Y=10.00 are written into P100.
Response example 1:
It is normally ended.
Command option
QWn+20 QWn+18
X axis position
Command response
IWm+20 IWm+18
QWn+22
QWn+20 QWn+18
0000 03E8 0000
IWm+22 IWm+20 IWm+18
0000 0000 0000
126
QWn+16 QWn+14
Axis
IWm+16 IWm+14
QWn+14 QWn+12
QWn+16
09C4 0000 0064
IWm+16 IWm+14 IWm+12
0000 0000 0000
QWn+12
Point number
IWm+12
QWn+8
QWn+10
0000 0304
IWm+10 IWm+8
0000 0200