Yamaha SRCD User Manual page 103

(31) Linear interpolation movement execution ........................... Code 011F
It moves to the position of the data of the specified point number in the linear
interpolation mode.
QWn+22
IWm+22
(Details)
Axis:
In the linear interpolation movement, 0: All axes alone can be as-
signed.
Point number: It is the inherent number which is assigned to a total of 1000 points
of 0 to 999. To specify the point variable P, register 4095 (=0FFF
(hexadecimal)).
Speed: It can be set at 100 steps of 1 to 100, and when the program execu-
tion speed parameter*
(When the maximum speed setting parameter*
lead length is 20mm.)
(Example)
Transmission example 1:
It moves to the P123 position at the speed 20% in the linear inter-
polation mode.
Response example 1:
It is normally ended.
Response example 2:
The software limit over occurs.
CAUTION
!
This command is invalid for single-axis controllers.
CAUTION
!
The SCARA robot, etc. which do not operate in the cartesian coordinates cannot
be moved in the linear interpolation mode.
*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 11CB 0000
IWm+22 IWm+20 IWm+18
0000 0000 0000
97
CHAPTER2 PROFIBUS Unit
QWn+16 QWn+14
Speed Point number
IWm+16 IWm+14
1
is 100, 100=1000mm/s is established.
QWn+16 QWn+14 QWn+12
0014 007B 0000
IWm+16 IWm+14 IWm+12
13AD 0000 0000
IWm+16 IWm+14 IWm+12
0000 0000 0000
QWn+12
Axis
IWm+12
2 is 3000, and the
QWn+10 QWn+8
0000 011F
IWm+10 IWm+8
0000 0200
IWm+10 IWm+8
0000 401E