Yamaha SRCD User Manual page 79

(7) JOG movement ....................................................................... Code 0107
The specified axis continues moving in the specified direction at the movement
speed shown with the following formula until the interlock input is OFF or it reaches
the software limit.
Movement speed = 100 × (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 speed in the - direction.
Response example 1:
It reaches the software limit, and is normally ended.
! CAUTION
If the robot is the rotary axis, the unit is degree.
CAUTION
!
In the JOG movement, it is also regarded as the normal end that the movement
is stopped after the interlock input is OFF.
! CAUTION
Take care that the software limit is invalid in the origin incomplete state.
* 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
73
CHAPTER2 PROFIBUS Unit
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+8
QWn+10
0000 0107
IWm+10 IWm+8
0000 0200