Yamaha SRCD - Page 124

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CHAPTER2 PROFIBUS Unit
(19) Current shift data read ........................................................... Code 0213
The currently set shift data 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
Y axis position
X axis position
(Details)
Axis position: The shift data is indicated (unit: 0.01mm). When the robot is set at
the rotary axis, the unit of the position is 0.01 degrees.
Single-axis controllers does not use IWm+20 to IWm+22.
(Example)
Transmission example 1:
The current shift data 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 0213
Response example 1:
The shift data is X=150.00, Y=250.00.
IWm+22
IWm+20 IWm+18 IWm+16
IWm+14 IWm+12
IWm+10
IWm+8
0000
61A8 0000
3A98
0000 0000
0000 0200