User`s manual

62
CHAPTER2 PROFIBUS Unit
2-12-2 Remote command & status value list
The remote command code and status code are expressed in the hexadecimal mode.
Remote Command
0000xxxx
0001xxxx
The command of the code xxxx is executed.
The command of the code xxxx is executed
with the current position information indicated
at IWm+16 to IWm+22.
Remote Command
(QWn+10,QWn+8)
Meaning of command
Status
0000
0100
0200
40xx
80xx
81xx
Command ready
Command executing
Command normal end
Error occurrence (xx: Error code)
X axis alarm occurrence (xx: Alarm code)
Y axis alarm occurrence (xx: Alarm code)
Status value (IWm+8)
Meaning of status
1. Robot movement
1.
2.
3.
4.
5.
6.
7.
8.
9.
10.
11.
0101
0102
0103
0104
0105
0106
0107
0108
0109
010A
010B
Return-to-origin execution
Program reset
Automatic operation start
Step operation start
Servo status change
JOG movement (inching)
JOG movement
Direct position specification
movement execution
Position specification
movement execution
Movement stroke specification
movement execution
General-purpose input
response movement execution
Axis
Axis
Status
Axis
Movement direction
Axis
Movement direction
Axis
Speed
X axis position
Y axis position
Axis
Point number
Speed
Axis
Point number
Speed
Axis
Point number
DI/SI number
0 or 1
QWn+12
QWn+12
QWn+14
QWn+12
QWn+14
QWn+12
QWn+14
QWn+12
QWn+14
QWn+18,
QWn+16
QWn+22,
QWn+20
QWn+12
QWn+14
QWn+16
QWn+12
QWn+14
QWn+16
QWn+12
QWn+14
QWn+16
QWn+18
Remote Command (QWn+8)
Code
No.
Option
responseregister register
Command response
Command option
Command details