Remote Command Details (Robot Operation) - Yamaha SRCD User Manual

CHAPTER2 PROFIBUS Unit
2-12-3

Remote command details (robot operation)

(1) Return-to-origin execution .................................................... Code 0101
The return-to-origin operation of all axes or specified axis is executed, or the re-
turn-to-origin status is judged. If the search system is selected for the origin-point
detection system, the return-to-origin operation is executed, and if the mark sys-
tem is selected, the return-to-origin status is judged.
QWn+22
IWm+22
(Details)
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 and 1 alone can be specified.
(Example)
Transmission example 1:
Return-to-origin is executed to all axes.
Response example 1:
It is normally ended.
Response example 2:
Origin incomplete occurs since the return-to-origin is not com-
pleted in the axis of the mark system.
M E M O
M E M O
If any axis of the mark system and axis of the search system are mixed, it is necessary
to previously complete the return-to-origin of the axis of the mark system in order to
execute the return-to-origin of the axis of the search system. The return-to-origin of
the mark system is executed with HPB.
M E M O
M E M O
If the return-to-origin is once executed after the robot cable is connected to the abso-
lute battery, it is unnecessary to execute it again even if the power supply is turned
off. (As an exceptional example, it is necessary to execute the return-to-origin again
since the origin is incomplete if the absolute back-up function is made to be invalid or
if any parameter concerned with the origin is changed.)
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
IWm+22 IWm+20 IWm+18
0000 0000
0000
66
QWn+16 QWn+14
IWm+14
IWm+16
QWn+16 QWn+14 QWn+12
0000 0000 0000
IWm+16 IWm+14 IWm+12
0000 0000 0000
IWm+16 IWm+14 IWm+12
0000 0000 0000
QWn+12
Axis
IWm+12
QWn+10 QWn+8
0000 0101
IWm+8
IWm+10
0000 0200
IWm+10 IWm+8
0000 4020