Yamaha SRCD User Manual page 76

CHAPTER2 PROFIBUS Unit
(4) Step operation start ............................................................... Code 0104
The program is executed by one step.
In the multi task program, the task selected at the time is executed.
QWn+22
IWm+22
(Example)
Transmission example 1:
The step operation is started.
Response example 1:
The step operation is completely executed.
Response example 2:
The origin incomplete error occurs to interrupt the robot opera-
tion.
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
70
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 0104
IWm+10 IWm+8
0000 0200
IWm+10 IWm+8
0000 4020