Yamaha SRCD - Page 79

73
CHAPTER2 PROFIBUS Unit
(7) JOG movement ....................................................................... Code 0107
The specified axis continues moving in the specified direction at the movement
speed shown with the following formula until the interlock input is OFF or it reaches
the software limit.
Movement speed = 100 × (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 speed 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 0107
Response example 1:
It reaches the software limit, and 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.
!
CAUTION
In the JOG movement, it is also regarded as the normal end that the movement
is stopped after the interlock input is OFF.
!
CAUTION
Take care that the software limit is invalid in the origin incomplete state.
* Single-axis controllers: PRM26, dual-axis controllers: PRM12