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CHAPTER2 PROFIBUS Unit
(10) Movement stroke specification
movement execution............................................................. Code 010A
The specified axis moves from the current position by the data of the point number
specified.
Command option
QWn+22
QWn+20 QWn+18 QWn+16
QWn+14 QWn+12
Speed
Point number Axis
Command response
IWm+22
IWm+20 IWm+18 IWm+16
IWm+14 IWm+12
(Details)
Axis: 0 means all axes, 1 means X axis and 2 means Y axis. On dual-axis
controllers, all axes are also specified when 3 is set.
On single-axis controllers, 0 or 1 alone can be specified.
Point number:This is the inherent number assigned to each of 1000 points as a
total from 0 to 999. To specify the point variable P, register 4095
(=0FFF (hexadecimal)).
Speed: It can be set at 100 intervals from 1 to 100, and 100=3000rpm if
the program execution speed parameter*
1
is set to 100. (In this
case, the maximum speed setting parameter*
2
is set to 3000.)
(Example)
Transmission example 1:
It moves from the current position by the P123 stroke alone at the
speed 100%.
QWn+22
QWn+20 QWn+18 QWn+16
QWn+14 QWn+12
QWn+10
QWn+8
0000
0000 0000
0064
007B 0000
0000 010A
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
Response example 2:
The software limit over occurs.
IWm+22
IWm+20 IWm+18 IWm+16
IWm+14 IWm+12
IWm+10
IWm+8
0000
0000 0000
0000
0000 0000
0000 401E
!
CAUTION
Since the current position on the program does not vary if the movement is in-
terrupted due to the stop (interlock), etc., the movement can be continued by
executing the command again. However, if resetting is executed, the current po-
sition on the program will be initialized at the position of the robot.
*1: Single-axis controllers: PRM30, dual-axis controllers: PRM17
*2: Single-axis controllers: PRM44, dual-axis controllers: PRM64 and PRM104
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