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CHAPTER2 PROFIBUS Unit
(12) Pallet work position specification
movement execution............................................................. Code 010C
It moves to the pallet work position specified with the matrix.
Command option
QWn+22
QWn+20 QWn+18 QWn+16
QWn+14 QWn+12
Speed
Pallet work position
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.
Pallet work position:
It is the inherent number which is given to each square of the ma-
trix, being a value in the range of 1 to max. 65025 (= 255×255). In
addition, the counter arrangement variable "C" or "D" can also be
used. 65535 (=FFFF (hexadecimal)) is registered for C, and 65534
(=FFFE (hexadecimal)) is registered for D.
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:
If the matrix of 4×3 is defined, it moves to the 2nd line and 2nd
array at the speed 100%.
QWn+22
QWn+20 QWn+18 QWn+16
QWn+14 QWn+12
QWn+10
QWn+8
0000
0000 0000
0064
0005 0000
0000 010C
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
Transmission example 2:
If the matrix of 5×5 is defined, Y axis alone moves at the speed
50% to the pallet work position specified with the counter variable
D.
QWn+22
QWn+20 QWn+18 QWn+16
QWn+14 QWn+12
QWn+10
QWn+8
0000
0000 0000
0032
FFFE 0002
0000 010C
Response example 2:
Since the D value is not proper, the data error occurs.
IWm+22
IWm+20 IWm+18 IWm+16
IWm+14 IWm+12
IWm+10
IWm+8
0000
0000 0000
0000
0000 0000
0000 4017
!
CAUTION
Since it is calculated on the presumption that the robot moves in the cartesian
coordinate system, the SCARA robot does not move as expected.
*1: Single-axis controllers: PRM30, dual-axis controllers: PRM17
*2: Single-axis controllers: PRM44, dual-axis controllers: PRM64 and PRM104
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