Yamaha SRCD User Manual page 75

(3) Automatic operation start ...................................................... Code 0103
The program is executed to the final step.
In the multi task program, all tasks are executed.
QWn+22
IWm+22
(Example)
Transmission example 1:
Automatic operation is started.
Response example 1:
It is executed to the final step.
Response example 2:
The origin incomplete error occurs to interrupt the robot opera-
tion.
CAUTION
!
If any endless program (in which it unconditionally return to the program head
from the final step) is executed, the response will stay at 0100 (command execut-
ing) since the program is not ended. In this case, the program is stopped by
inputting the stop command of the interlock, etc. or activating the emergency
stop to forcibly stop.
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
69
CHAPTER2 PROFIBUS Unit
QWn+16 QWn+14
IWm+16 IWm+14
QWn+16 QWn+14 QWn+12
0000 0000 0000
IWm+16 IWm+14 IWm+12
0000 0000 0000
IWm+16 IWm+14 IWm+12
0000 0000 0000
QWn+12
IWm+12
QWn+10 QWn+8
0000 0103
IWm+10 IWm+8
0000 0200
IWm+10 IWm+8
0000 4020