Sending/Receiving Example - Yamaha SRCD User Manual

CHAPTER2 PROFIBUS Unit
2-12-9
M E M O
M E M O
If the robot position cannot be judged due to the incomplete origin position status,
cable breakage, etc., the robot position will not be determined.

Sending/receiving example

The sending/receiving example is shown when the direct position specification move-
ment execution (code 0108). (Values are expressed in the hexadecimal mode.)
QWn+8
Command
QWn+10
QWn+12 to QWn+22
Axis movement
Status
IWm+8
(1) The direct position specification movement execution command is executed
by setting 0108 to QWn+8. Here, the options (movement axis, speed, target
position) necessary for movement are set at the specified addresses in QWn+12
to QWn+22 before the command is set to QWn+8 or at the same time when the
command is set.
0000 is usually set to QWn+10, and 0001 is set to execute the command in the
current position indication mode. (In the current position indication mode, the
following process is executed with the current position indicated at IWm+16
to IWm+22.)
(2) When the controller receives the command, it starts the axis movement to-
gether with 0100 return to IWm+8. When the status is changed into the execu-
tion status, it does not matter that QWn+12 to QWn+22 (command option) is
changed.
(3) When the movement is completed, the result is set to IWm+8. If it is normally
completed, 0200 is set.
(4) When 0000 is set to QWn+8, the status is cleared. This ends the cycle of the
command execution.
Here, after verifying that the status becomes 0000, issue the next command.
(0000) (0108)
(0000 or 0001)
Axis moving
Executing (0100)
Ready
130
(0000)
(0000)
Result Executing