Yamaha DRCX Manual do Utilizador descarregar pdf (Página 75)

CHAPTER2 PROFIBUS Unit

(3) Automatic operation start...................................................... Code 0103

The program is executed to the final step.

In the multi task program, all tasks are executed.

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

(Example)

Transmission example 1:

Automatic operation is started.

QWn+22

QWn+20 QWn+18 QWn+16

QWn+14 QWn+12

QWn+10

QWn+8

0000

0000 0000

0000

0000 0000

0000 0103

Response example 1:

It is executed to the final step.

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 origin incomplete error occurs to interrupt the robot opera-

tion.

IWm+22

IWm+20 IWm+18 IWm+16

IWm+14 IWm+12

IWm+10

IWm+8

0000

0000 0000

0000

0000 0000

0000 4020

CAUTION

If any endless program (in which it unconditionally return to the program head

from the final step) is executed, the response will stay at 0100 (command execut-

ing) since the program is not ended. In this case, the program is stopped by

inputting the stop command of the interlock, etc. or activating the emergency

stop to forcibly stop.

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