User`s manual

77
CHAPTER2 PROFIBUS Unit
(11) General-purpose input response
movement execution............................................................. Code 010B
Until the conditions of DI/SI input are established, the specified axis continues
moving to the specified point position. When the DI/SI conditions are established,
the robot stops and the command is normally ended. Even if any DI/SI condition is
not established, the command is normally ended at the step where it reaches the
target point.
Command option
QWn+22
QWn+20 QWn+18 QWn+16
QWn+14 QWn+12
DI/SI status DI/SI number
Point number 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.
Point number: This is the inherent number assigned to each of 1000 points as a
total from 0 to 999. To specify the point variable P, register 4095
(=0FFF (hexadecimal)).
DI/SI number: Specify one among the general-purpose input DI0 to 15*
1
and SI200
to 231.
DI/SI status: 1 means ON, and 0 means OFF.
(Example)
Transmission example 1:
Y axis alone is continuously moved to the position of P2 until
SI210=1 (ON).
QWn+22
QWn+20 QWn+18 QWn+16
QWn+14 QWn+12
QWn+10
QWn+8
0000
0000 0001
00D2
0002 0001
0000 010B
Response example 1:
Since the conditions are established on the way of movement, the
robot stops with the normal end.
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
The movement speed is set with MOVF speed parameter*
2
but is not influenced
by the program execution speed parameter*
3
.
*1: DI0 to DI7 when the SRCP/SRCD series controllers are used.
*2: Single-axis controllers: PRM9, dual-axis controllers: PRM4
*3: Single-axis controllers: PRM30, dual-axis controllers: PRM17