Yamaha DRCX Manual do Utilizador descarregar pdf (Página 86)

CHAPTER2 PROFIBUS Unit

(14) Distance specification arch motion definition .................... Code 010E

The arch motion of the distance specification is defined.

Command option

QWn+22

QWn+20 QWn+18 QWn+16

QWn+14 QWn+12

Specified distance

Axis

Command response

IWm+22

IWm+20 IWm+18 IWm+16

IWm+14 IWm+12

(Details)

Axis: It is the execution axis number of the arch motion. 1 means X axis,

and 2 means Y axis.

Specified distance:

It is the movement position (relative position of origin reference)

of the arch motion execution axis.

The position can be specified in the range of -9999 to 9999 in the

millimeter units.

(Example)

Transmission example 1:

The arch motion in which Y axis returns by -100.00 is defined.

QWn+22

QWn+20 QWn+18 QWn+16

QWn+14 QWn+12

QWn+10

QWn+8

0000

0000 0000

0000

FF9C 0002

0000 010E

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

CAUTION

This command is invalid for single-axis controllers.

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 2 ... 81 82 83 84 85 86 87 88 89 90 91 ... 147 148

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