Yamaha SRCD User Manual page 82

CHAPTER2 PROFIBUS Unit
(10) Movement stroke specification
movement execution ............................................................. Code 010A
The specified axis moves from the current position by the data of the point number
specified.
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 or 1 alone can be specified.
Point number:This is the inherent number assigned to each of 1000 points as a
total from 0 to 999. To specify the point variable P, register 4095
(=0FFF (hexadecimal)).
Speed: It can be set at 100 intervals from 1 to 100, and 100=3000rpm if
the program execution speed parameter*
case, the maximum speed setting parameter*
(Example)
Transmission example 1:
It moves from the current position by the P123 stroke alone at the
speed 100%.
Response example 1:
It is normally ended.
Response example 2:
The software limit over occurs.
! CAUTION
Since the current position on the program does not vary if the movement is in-
terrupted due to the stop (interlock), etc., the movement can be continued by
executing the command again. However, if resetting is executed, the current po-
sition on the program will be initialized at the position of the robot.
*1: Single-axis controllers: PRM30, dual-axis controllers: PRM17
*2: Single-axis controllers: PRM44, dual-axis controllers: PRM64 and PRM104
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
76
QWn+16 QWn+14
Speed Point number
IWm+16 IWm+14
1
is set to 100. (In this
2 is set to 3000.)
QWn+16 QWn+14 QWn+12
0064 007B 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 010A
IWm+10 IWm+8
0000 0200
IWm+10 IWm+8
0000 401E