Current Position Indication Mode - Yamaha SRCD User Manual

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Current position indication mode

The current position indication mode is selected by setting 0001 to QWn+10.
In the current position indication mode, the current position of the robot is always output
to IWm+16 to IWm+22 regardless of the execution status or no-execution status of the
remote command. The position of the robot can be always grasped by selecting the cur-
rent position indication mode.
(Details)
Axis position: The current position of the robot is indicated (unit: 0.01mm). If
(Example)
Transmission example 1:
Response example 1:
Transmission example 2:
Response example 2:
CAUTION
!
Before executing a command which uses IWm+16 to IWm+22 as the response
such as the specified point data read command (code 0217), cancel the current
position indication mode. If the current position indication mode is kept, the
command response overlaps with the current position indication and the data
cannot be normally read out.
Do not use the current position indication mode when executing a command
which uses IWm+16 to IWm+22 as the response.
M E M O
M E M O
The renewal interval of the current position is every 10 milliseconds. Accordingly,
when the robot moves at a high speed, the error becomes large between the actual
position of the robot and the robot position sent as the response.
Remote command
RWwn+1 RWwn
0001 xxxx
IWm+22 IWm+20
Y axis position
the rotary axis is set for the robot, the unit of the movement posi-
tion is 0.01 degrees.
IWm+20 to IWm+22 is not used in single-axis controllers.
Current position is output by current position display mode.
QWn+22 QWn+20
0000
The current position of the robot is X=321.05 and Y=-0.02.
IWm+22 IWm+20
FFFF
Move to the position of X=50.37 and Y=45.55 at the 100% speed
in the current position indication mode.
QWn+22 QWn+20
0000
Moving to the target position is normally ended. (The current po-
sition of the robot is X=50.37 and Y=45.55)
IWm+22 IWm+20
0000
129
Meaning of command
Current position information is displayed in IWrn+16 to
IWrn+22.
Command response
IWm+18 IWm+16
X axis position
QWn+18 QWn+16
0000 0000 0000
IWm+18 IWm+16
FFFE 0000 7D69
QWn+18 QWn+16
11CB 0000 13AD
IWm+18 IWm+16
11CB 0000 13AD
CHAPTER2 PROFIBUS Unit
IWm+14 IWm+12
QWn+14 QWn+12 QWn+10
0000 0000 0001
IWm+14 IWm+12 IWm+10
0000 0000 0000
QWn+14 QWn+12 QWn+10
0064 0000 0001
IWm+14 IWm+12 IWm+10
0000 0000 0000
QWn+8
0000
IWm+8
0000
QWn+8
0108
IWm+8
0200