Yamaha SRCD User Manual page 78

CHAPTER2 PROFIBUS Unit
(6) JOG movement (inching) ....................................................... Code 0106
The specified axis moves in the specified direction at the stroke shown with the
following formula.
Movement stroke = 1 × (Teach movement data (%)*/100 (mm)
QWn+22
IWm+22
(Details)
Axis: 1 means X axis, and 2 means Y axis.
On single-axis controllers, 1 alone can be specified.
Direction: 0 means + direction, and 1 means - direction.
(Example)
Transmission example 1:
Y axis is moved only at the specified stroke in the - direction.
Response example 1:
It is normally ended.
! CAUTION
If the robot is the rotary axis, the unit is degree.
* Single-axis controllers: PRM26, dual-axis controllers: PRM12
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
72
QWn+16 QWn+14
Direction
IWm+16 IWm+14
QWn+16 QWn+14 QWn+12
0000 0001 0001
IWm+16 IWm+14 IWm+12
0000 0000 0000
QWn+12
Axis
IWm+12
QWn+10 QWn+8
0000 0106
IWm+10 IWm+8
0000 0200