Yamaha SRCD User Manual page 80

CHAPTER2 PROFIBUS Unit
(8) Direct position specification movement execution ............ Code 0108
It moves to the specified coordinate position.
QWn+22
Y axis position
IWm+22
(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.
Speed:
It can be set at 100 intervals from 1 to 100, and 100=3000rpm if
the program execution speed parameter*
case, the maximum speed setting parameter*
Axis position: The desired movement position is directly specified (unit: 0.01mm).
When the robot is set at the rotary axis, the unit of the movement
position is 0.01 degrees. When the axis is specified, the axis data
is free for any other axis not specified. Similarly, it does not matter
that the data of Y axis is free on single-axis controllers.
(Example)
Transmission example 1:
In the current position indication mode, it moves to the position of
X=50.37 and Y=45.55 at the 100% speed.
Response example 1:
It is normally ended.
Transmission example 2:
It moves to the position of Y=850.00 at the 50% speed.
Response example 2:
The software limit over occurs.
*1: Single-axis controllers: PRM30, dual-axis controllers: PRM17
*2: Single-axis controllers: PRM44, dual-axis controllers: PRM64 and PRM104
Command option
QWn+20 QWn+18
X axis position
Command response
IWm+20 IWm+18
QWn+22 QWn+20 QWn+18
0000 11CB 0000
IWm+22 IWm+20 IWm+18
0000 11CB 0000
QWn+22 QWn+20 QWn+18
0001 4C08 0000
IWm+22 IWm+20 IWm+18
0000 0000 0000
74
QWn+16 QWn+14
Speed
IWm+16 IWm+14
1 is set to 100. (In this
2
is set to 3000.)
QWn+16 QWn+14 QWn+12
13AD 0064 0000
IWm+16 IWm+14 IWm+12
13AD 0000 0000
QWn+16 QWn+14 QWn+12
0000 0032 0002
IWm+16 IWm+14 IWm+12
0000 0000 0000
QWn+12
Axis
IWm+12
QWn+10 QWn+8
0001 0108
IWm+10 IWm+8
0000 0200
QWn+10 QWn+8
0000 0108
IWm+10 IWm+8
0000 401E