Remote Command Details (Data Handling) - Yamaha SRCD User Manual

CHAPTER2 PROFIBUS Unit
2-12-4

Remote command details (data handling)

(1) Current position read ............................................................. Code 0201
The current positions of all axes or specified axes are read.
QWn+22
IWm+22
Y axis position
(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.
Axis position: The current position of the robot is indicated (unit: 0.01mm). When
the robot is set at the rotary axis, the unit of the movement position
is 0.01 degrees.
Single-axis controllers does not use IWm+20 to IWm+22.
Similarly, writing is not applied to the unspecified axis with the
command option.
(Example)
Transmission example 1:
The current position information of all axes is read.
Response example 1:
The current position of the robot is X=321.05 and Y=100.15.
CAUTION
!
Reset the current position indication mode, and execute the command.
M E M O
M E M O
If any robot position cannot be judged due to the incomplete origin state, cable break-
age, etc., the robot position is not determined.
Command option
QWn+20 QWn+18
Command response
IWm+20 IWm+18
X axis position
QWn+22 QWn+20 QWn+18
0000 0000 0000
IWm+22 IWm+20 IWm+18
0000 271F 0000
100
QWn+16 QWn+14
IWm+16 IWm+14
QWn+16 QWn+14 QWn+12
0000 0000 0000
IWm+16 IWm+14 IWm+12
7D69 0000 0000
QWn+12
Axis
IWm+12
QWn+10 QWn+8
0000 0201
IWm+10 IWm+8
0000 0200