Yamaha SRCD - Page 78

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CHAPTER2 PROFIBUS Unit
(6) JOG movement (inching)....................................................... Code 0106
The specified axis moves in the specified direction at the stroke shown with the
following formula.
Movement stroke = 1 × (Teach movement data (%)*/100 (mm)
Command option
QWn+22
QWn+20 QWn+18 QWn+16
QWn+14 QWn+12
Direction Axis
Command response
IWm+22
IWm+20 IWm+18 IWm+16
IWm+14 IWm+12
(Details)
Axis: 1 means X axis, and 2 means Y axis.
On single-axis controllers, 1 alone can be specified.
Direction: 0 means + direction, and 1 means - direction.
(Example)
Transmission example 1:
Y axis is moved only at the specified stroke in the - direction.
QWn+22
QWn+20 QWn+18 QWn+16
QWn+14 QWn+12
QWn+10
QWn+8
0000
0000 0000
0000
0001 0001
0000 0106
Response example 1:
It is normally ended.
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
If the robot is the rotary axis, the unit is degree.
* Single-axis controllers: PRM26, dual-axis controllers: PRM12