Yamaha SRCD - Page 76

70
CHAPTER2 PROFIBUS Unit
(4) Step operation start ............................................................... Code 0104
The program is executed by one step.
In the multi task program, the task selected at the time is 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:
The step 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 0104
Response example 1:
The step operation is completely executed.
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