Yamaha SRCD User Manual page 83

(11) General-purpose input response
movement execution ............................................................. Code 010B
Until the conditions of DI/SI input are established, the specified axis continues
moving to the specified point position. When the DI/SI conditions are established,
the robot stops and the command is normally ended. Even if any DI/SI condition is
not established, the command is normally ended at the step where it reaches the
target point.
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)).
DI/SI number: Specify one among the general-purpose input DI0 to 15*
to 231.
DI/SI status: 1 means ON, and 0 means OFF.
(Example)
Transmission example 1:
Y axis alone is continuously moved to the position of P2 until
SI210=1 (ON).
Response example 1:
Since the conditions are established on the way of movement, the
robot stops with the normal end.
! CAUTION
The movement speed is set with MOVF speed parameter*
by the program execution speed parameter*
*1: DI0 to DI7 when the SRCP/SRCD series controllers are used.
*2: Single-axis controllers: PRM9, dual-axis controllers: PRM4
*3: Single-axis controllers: PRM30, dual-axis controllers: PRM17
Command option
QWn+20 QWn+18
DI/SI status
Command response
IWm+20 IWm+18
QWn+22 QWn+20 QWn+18
0000 0000 0001
IWm+22 IWm+20 IWm+18
0000 0000 0000
77
CHAPTER2 PROFIBUS Unit
QWn+16 QWn+14
DI/SI number Point number
IWm+16 IWm+14
QWn+16 QWn+14 QWn+12
00D2 0002 0001
IWm+16 IWm+14 IWm+12
0000 0000 0000
2
but is not influenced
3
.
QWn+12
Axis
IWm+12
1
and SI200
QWn+10 QWn+8
0000 010B
IWm+10 IWm+8
0000 0200