Yamaha SRCD - Page 117

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CHAPTER2 PROFIBUS Unit
(12) Operation mode check .......................................................... Code 020C
The robot status is read.
Command option
QWn+22
QWn+20 QWn+18 QWn+16
QWn+14 QWn+12
Command response
IWm+22
IWm+20 IWm+18 IWm+16
IWm+14 IWm+12
Operation mode
(Details)
Operation mode:
0: Stop status 1: The program is being executed with the commu-
nication of HPB, personal computer , etc. 2: The program is being
executed with I/O command.
(Example)
Transmission example 1:
The robot status is read.
QWn+22
QWn+20 QWn+18 QWn+16
QWn+14 QWn+12
QWn+10
QWn+8
0000
0000 0000
0000
0000 0000
0000 020C
Response example 1:
0 (stop status) is established.
IWm+22
IWm+20 IWm+18 IWm+16
IWm+14 IWm+12
IWm+10
IWm+8
0000
0000 0000
0000
0000 0000
0000 0200
!
CAUTION
The data handling with the remote command is received during stop alone. Ac-
cordingly, the response of this mode is set to 0 (stop status) alone.