Yamaha SRCD - Page 75

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CHAPTER2 PROFIBUS Unit
(3) Automatic operation start...................................................... Code 0103
The program is executed to the final step.
In the multi task program, all tasks are executed.
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
(Example)
Transmission example 1:
Automatic operation is started.
QWn+22
QWn+20 QWn+18 QWn+16
QWn+14 QWn+12
QWn+10
QWn+8
0000
0000 0000
0000
0000 0000
0000 0103
Response example 1:
It is executed to the final step.
IWm+22
IWm+20 IWm+18 IWm+16
IWm+14 IWm+12
IWm+10
IWm+8
0000
0000 0000
0000
0000 0000
0000 0200
Response example 2:
The origin incomplete error occurs to interrupt the robot opera-
tion.
IWm+22
IWm+20 IWm+18 IWm+16
IWm+14 IWm+12
IWm+10
IWm+8
0000
0000 0000
0000
0000 0000
0000 4020
!
CAUTION
If any endless program (in which it unconditionally return to the program head
from the final step) is executed, the response will stay at 0100 (command execut-
ing) since the program is not ended. In this case, the program is stopped by
inputting the stop command of the interlock, etc. or activating the emergency
stop to forcibly stop.