Yamaha DRCX Manual do Utilizador descarregar pdf (Página 112)

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106

CHAPTER2 PROFIBUS Unit

(7) Number of axes read .............................................................. Code 0207

The total number of operable axes is read.

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

Axis number

(Example)

Transmission example 1:

The total number of axes is read.

QWn+22

QWn+20 QWn+18 QWn+16

QWn+14 QWn+12

QWn+10

QWn+8

0000

0000 0000

0000

0000 0000

0000 0207

Response example 1:

2 axes are operable.

IWm+22

IWm+20 IWm+18 IWm+16

IWm+14 IWm+12

IWm+10

IWm+8

0000

0000 0000

0000

0000 0002

0000 0200

1 2 ... 107 108 109 110 111 112 113 114 115 116 117 ... 147 148

PROFIBUS 1
INTRODUCTION 3
Contents 5
Cautions To Ensure Safety 7
1-1 Basic safety points 8
1-6 Warranty 10
PROFIBUS Unit 11
2-1 PROFIBUS unit features 12
2-2 PROFIBUS system concept 13
Plug the bus connector 14
PROFIBUS-DP 14
2-4 Parallel I/O connector 15
2-7 I/O information 21
I 1. 2 23
Specifying a point number 27
2-7-4 Interlock (LOCK) 28
2-7-6 Service mode (SVCE) 29
2-7-7 Dedicated outputs 30
2-8 Timing chart 32
Dedicated 33
2-8-5 When an alarm is issued 39
2-9-2 I/O assignment list 42
Output (Slave 43
2-9-4 I/O signal descripion 46
(binary) 49
2-9-5 Timing chart 51
2-10 Robot language 61
2-10-2 JMPF 62
2-10-3 JMPB 63
2-10-4 DO 63
2-10-5 WAIT 64
Emulated serialization 65
2-12 Remote command 67
Remote Command 68
1. Robot movement 68
2. Data handling 70
3. Utility 71
4. Special commands 71
QWn+20 QWn+18 92
QWn+14 QWn+12 92
Point number 92
CHAPTER2 PROFIBUS Unit 100
2-12-7 Status details 134
2-13 Other operations 137
2-14 Error Message 141
2-17-1 GSD files 145

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