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CC-Link
User s Manual
RCX340
EUSA14B110
Ver. 1.10
E781
CONTENTS
CC-Link
Users Manual
ii
Warranty
iv
Chapter 1 Outline
1. Features
1-1
2. Mechanism
1-2
1-3
1-4
1-6
Chapter 2 Connection
1. Settings the CC-Link compatible module
2-1
2. Noise measures
2-2
2-2
2-3
2-3
2-3
Chapter 3 Communication
1. State when the robot controller power is turned ON
3-1
3-2
3-2
3-3
3-3
3-5
3-6
3-7
T-1
CONTENTS
CC-Link
Users Manual
3-7
3-8
Chapter 4 Troubleshooting
1. Check items before starting up the CC-Link system
4-1
4-2
3. Troubleshooting
4-3
4-5
Chapter 5 Specifications
1. Profile
5-1
5-4
5-7
5-7
5-8
5-9
5-10
5-11
Chapter 6 Appendix
1. Definitions of terms
6-1
2. CSP+ files
6-2
A-1
A-2
A-3
A-4
A-9
T-2
A-1
A-9
CONTENTS
4.2 Category 1 remote commands
4.2.1 MOVE command
CC-Link
Users Manual
A-10
A-11
PTP designation
A-11
Arch designation
A-14
Linear interpolation
A-17
Circular interpolation
A-20
A-23
A-26
A-29
PTP designation
A-29
Linear interpolation
A-32
A-35
A-38
A-41
Point designation
A-41
A-44
A-47
A-50
Point designation
A-50
A-53
A-56
A-59
PTP designation
A-59
Arch designation
A-62
A-65
A-65
A-68
A-71
A-74
A-74
A-77
A-80
A-83
A-84
A-86
A-88
A-90
A-90
A-92
A-94
A-96
A-97
T-3
CONTENTS
4.2.16 Program movement speed change command
A-98
A-99
A-100
A-101
A-102
A-103
A-103
Linear interpolation
A-106
A-109
A-109
A-111
Point designation
A-111
A-114
A-117
A-120
A-121
A-121
A-123
A-125
A-125
A-127
A-129
A-129
A-130
A-132
A-132
A-134
A-136
A-136
A-138
A-140
A-141
A-141
A-143
A-145
A-147
A-149
A-151
A-151
A-153
T-4
CC-Link
Users Manual
A-156
A-156
CONTENTS
CC-Link
Users Manual
Point addition/subtraction
A-158
A-160
A-162
A-162
A-164
A-166
A-167
A-167
A-169
A-171
A-172
A-174
A-176
A-178
A-180
A-181
A-183
A-185
A-187
A-187
A-189
A-192
A-194
A-196
A-198
A-199
A-200
A-201
A-203
A-205
A-206
A-207
A-209
A-210
A-212
A-214
A-214
A-216
A-217
T-5
ii
Warranty
iv
Introduction
The CC-Link compatible module is compatible with CC-Link Ver. 1.10 and Ver. 2.0.
This manual consists of a CC-Link compatible module guide (explanation of wiring and communication, etc.)
and a remote command guide.
For information on other devices such as connecting the master module and sequence programming, refer to
the manual for the respective product.
For details on operating the robot controller and on the robot program, thoroughly read the controller user's
manual and programming manual supplied with the YAMAHA robot controller.
This CC-Link compatible module is an option module that enables connection of the YAMAHA robot controller
RCX340 as a CC-Link system remote device station.
Before using this product, be sure to read this manual carefully as well as the robot controller user's manual
and programming manual. Take sufficient precautions to ensure safety and handle the product correctly.
The cautions given in this manual are related to this product. Refer to the robot controller user's manual for
details on the cautions to be taken with the robot controller system using this product.
The safety precautions are ranked as "WARNING" and "CAUTION" in this manual.
w
c
n
WARNING
Failure to follow WARNING instructions could result in serious injury or death to the operator or
person servicing the product.
CAUTION
Failure to follow CAUTION instructions may result in injury to the operator or person servicing product, or damage
to the product or peripheral equipment.
NOTE
Explains the key point in the operation in a simple and clear manner.
Note that some items described as "CAUTION" may lead to serious results depending on the situation. In any
case, important information that must be observed is explained.
Store this manual where it can be easily referred to, and make sure that it is delivered to the end user.
CC-Link is a registered trademark of CC-Link partner association.
The CC-Link compatible module with a
ii
WARNING
Configure an interlock circuit in the sequence program so that the system, including the robot
controller will work safely.
The SAFETY connector of the robot controller has an emergency stop terminal to trigger
emergency stop. Using this terminal, prepare a physical interlock circuit so that the system
including the robot controller will work safety.
CAUTION
The control line and communication cable must not be bound with or placed near the main circuit or power
line. Separate these by at least 100mm. Failure to observe this could lead to malfunctions caused by noise.
When the parallel I/O is provided on the controller, all dedicated inputs will be disabled except for the stop
signal (DI06). When the parallel I/O is set invalid by an I/O parameter setting, the stop signal (DI06) will also be
disabled.
w
c
WARNING
Always shut off all phases of the power supply externally before starting installation or wiring
work.
Failure to shut off all phases could lead to electric shocks or product damage.
CAUTION
Use the robot controller in locations that support the environmental conditions specified in this manual.
Operation outside the specified environmental range may cause electrical shock, fire, malfunction or product
damage or deterioration.
Do not touch the conductive areas and the electronic components of the CC-Link compatible module.
Never directly touch the controller's interior areas.
Accurately connect each connection cable connector to the mounting section.
Failure to observe this could lead to malfunctions caused by a connection fault.
WARNING
Always shut off all phases of the power supply externally before starting installation or wiring
work. Failure to shut off all phases could lead to electric shocks or product damage.
CAUTION
Make sure that foreign matter, such as cutting chips or wire scraps, do not enter the robot controller.
The communication cables connected to the CC-Link compatible module must be placed in a conduit or fixed
with a clamp. If the cable is not placed in a conduit or fixed with a clamp, the module or cable could be
damaged by the cable shifting, movement or unintentional pulling leading to malfunctioning caused by an
improper cable connection.
Do not attempt to disconnect the connector which is connected to the CC-Link compatible module by pulling
on the cable itself. Always grasp the connector part of the cable when disconnecting it. Pulling on the cable
could damage the cable and module, possibly causing a poor contact condition which could result in
malfunctions.
WARNING
Do not touch the terminals while the power is ON. Failure to observe this could lead to
malfunctioning.
Always shut off all phases of the power supply externally before performing cleaning or wiring
work. Failure to shut off all phases could lead to electric shocks, product damage or
malfunctioning.
Never disassemble or modify any of the robot controller modules.
Failure to observe this could lead to trouble, malfunctioning, injuries or fires.
In cases where system operation is affected by noise, mount the ferrite core on the power cable as
close to the robot controller as possible.
CAUTION
The CC-Link system may not function properly if the master module and robot controller power are turned ON
simultaneously. Always turn the robot controller power ON after turning ON the power for the master module
ON.
The CC-Link compatible module does not have a connector locking mechanism. Use care to prevent the cable
from being pulled out of the connector (disconnected).
CAUTION
Dispose of this product as industrial waste.
iii
Warranty
Important information before reading this manual
For information on the warranty period and terms, please contact our distributor where you purchased the
product.
THE WARRANTY STATED HEREIN PROVIDED BY YAMAHA ONLY COVERS DEFECTS IN PRODUCTS
AND PARTS SOLD BY YAMAHA TO DISTRIBUTORS UNDER THIS AGREEMENT. ANY AND ALL OTHER
WARRANTIES OR LIABILITIES, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO ANY IMPLIED
WARRANTIES OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE ARE HEREBY EXPRESSLY
DISCLAIMED BY YAMAHA. MOREOVER, YAMAHA SHALL NOT BE HELD RESPONSIBLE FOR CONSEQUENT
OR INDIRECT DAMAGES IN ANY MANNER RELATING TO THE PRODUCT.
This manual does not serve as a guarantee of any industrial property rights or any other rights and
does not grant a license in any form. Please acknowledge that we bear no liability whatsoever for
any problems involving industrial property rights which may arise from the contents of this manual.
Ver.1.01_201209
iv
Chapter 1 Outline
1. Features
1-1
2. Mechanism
1-2
1-3
1-4
5. CC-Link system connection status transition and robot controller status 1-6
111 Features
CC-Link is the abbreviation of Control & Communication Link.
The CC-Link system connects the robot controller and dispersed input/output modules with dedicated cables,
and controls these modules from the master module.
The CC-Link system allows wiring to be reduced.
Outline
CC-Link system
Master module
Controls the entire CC-Link system.
Slave module
Controlled by the master module
in the CC-Link system.
Slave module
Controlled by the master module in the
CC-Link system.
The robot controller corresponds to this module.
Ver.1.10.
NOTE
When the parallel I/O is provided on the controller, all dedicated inputs will be disabled except for the stop signal
(DI06). When the parallel I/O is set invalid by an I/O parameter setting, the stop signal (DI06) will also be disabled.
1-1
222 Mechanism
This section describes the mechanism of the communication to provide an understanding of how the robot
controller and master module operate via the CC-Link system.
Outline
Mechanism of communication
ON/OFF information
Master module
Robot controller
(1)
(2)
(1) The robot controller's ON/OFF information is sent to the master module via the network.
(2) The master module's ON/OFF information is sent to the robot controller via the network.
* The robot controller monitors the ON/OFF information at a 5ms cycle.
* The ON/OFF information consists of two words each of dedicated I/O words, 14 words each of general-purpose I/O
words as word information, and 16 points each of dedicated I/O points, 96 points each of general-purpose I/O points
as bit information.
If the following is executed with the robot program in the robot controller, the bit information will be sent to the master
module via the CC-Link system by (1).
SO(20)=1
Conversely, if the following is executed with the robot program, the bit information received from the master module via
the CC-Link system will be monitored by (2), and the robot controller will wait for the ON information.
WAIT SI(20)=1
If the following is executed with the robot program in the robot controller, the word information will be sent to the
master module via the CC-Link system by (1).
SOW(2)=256
Conversely, if the following is executed with the robot program, the word information received from the master module
via the CC-Link system will be substituted in integer variable A% by (2).
1-2
A%=SIW(3)
This section describes the part names and functions of the CC-Link compatible module.
This module is installed in the option slot of the robot controller.
Outline
Part names
3. Accessory connector
1
3
4
Number
Name
Wiring
DA
Blue
5
RUN
DB
White
DG
Yellow
SLD
Shield
FG
ERROR LED
Status
OFF
Lit in red
Flashing red
Flashing red (fast)
Description
Switches OFF when the power is OFF and when no errors occur.
A serious error has occurred.
A CRC error has occurred.
Communication with the CC-Link system has been disabled due to a station No., communication
speed, or CC-Link version change which has been made at the programming box, etc.
RUN LED
Status
OFF
Lit in green
Lit in red
Description
Not connected to the network, time-out has occurred, or the controller power is OFF.
Normal connection to the network is established.
A serious error has occurred.
1-3
The I/O expressions used in the robot controllers program language and the I/O expressions for the remote
device stations differ. The correspondence is shown below.
Output from robot controller
Outline
Program language
*3
SOW(1) *3
SOW(2)
RWr2
SOW(3)
RWr3
SOW(4)
RWr4
SOW(5)
RWr5
SOW(6)
RWr6
SOW(0)
SOD(2)
SOD(4)
SOD(6)
SOD(8)
SOD(10)
SOD(12)
SOD(14)
SO0(7~0) *1
*1
Program language
RWr0
SIW(0)
*3
RWw0
RWr1
SIW(1) *3
RWw1
SIW(2)
RWw2
SIW(3)
RWw3
SIW(4)
RWw4
SIW(5)
RWw5
SIW(6)
RWw6
SOW(7)
RWr7
SOW(8)
RWr8
SOW(9)
RWr9
SOW(10)
RWrA
SOW(11)
RWrB
SOW(12)
RWrC
SOW(13)
RWrD
SOW(14)
RWrE
SOW(15)
RWrF
SID(2)
SID(4)
SID(6)
SID(8)
SID(10)
SID(12)
SID(14)
SIW(7)
RWw7
SIW(8)
RWw8
SIW(9)
RWw9
SIW(10)
RWwA
SIW(11)
RWwB
SIW(12)
RWwC
SIW(13)
RWwD
SIW(14)
RWwE
SIW(15)
RWwF
RXn7~RXn0
SI0(7~0) *1
RYn7~RYn0
*1
RYnF~RYn8
RXnF~RXn8
SI1(7~0)
SO2(7~0)
SI2(7~0)
SO3(7~0)
SI3(7~0)
SO4(7~0)
SI4(7~0)
SO5(7~0)
SI5(7~0)
SO6(7~0)
SI6(7~0)
SO7(7~0)
SI7(7~0)
SO10(7~0)
SI10(7~0)
SO11(7~0)
SI11(7~0)
SO12(7~0)
SI12(7~0)
SO13(7~0)
SI13(7~0)
SO14(7~0)
SI14(7~0)
SO15(7~0)
SI15(7~0)
------------
SO1(7~0)
------------
1-4
NOTE
SIW(n) and SOW(n) are handled as numerical data of word with no sign.
SID(n) and SOD(n) are handled as numerical data of double words with a sign.
An example of the flow of the I/O information in the robot controller (remote device station) is shown below.
The buffer memory in the master module used to store the I/O information differs according to the master
module type and the station No., etc.
Refer to the master module manual for details.
Example:
Master module
(Q-Series)
Robot controller
Remote input
X17F to X100
D115 to D100
RX8F to RX10
RWr15 to RWr0
Y17F to Y100
D135 to D120
RY8F to RY10
RWw15 to RWw0
Outline
Remote input
Automatic update
1-5
555
The CC-Link system specification robot controller always starts the operation in the servo OFF status after the
power has been turned ON.
Outline
111 Normal state of CC-Link system connection when the robot controller power is turned ON
System connection normal state
Robot
controller
Master module
The controller status is as shown below when the system is properly connected. Communication with the host device is
enabled at this time.
The emergency stop/stop signals in the CC-Link system are valid.
The emergency stop terminal in the SAFETY connector is valid.
When a parallel I/O is provided, the parallel I/O's stop signal is enabled unless the parallel I/O has been disabled by a
parameter setting.
* Always initialize with the master module when connecting to the CC-Link system.
222 Transition from the CC-Link system normal connection state to the CC-Link system connection error
state
System connection error state (1)
Robot
controller
Master module
Robot
controller
Master module
or
Robot
controller
Master module
When a system connection error condition exists, the controller status is as shown below. Communication with the host
device is disabled at this time.
The emergency stop input turns off with SI (00) in the robot controller.
The stop signal turns off with SI (06) in the robot controller.
The emergency stop terminal in the SAFETY connector is valid.
When a parallel I/O is provided, the parallel I/O's stop signal is enabled unless the parallel I/O has been disabled by a
parameter setting.
* The "12.531: CC-Link communication error" is added to the alarm history in the robot controller.
* If the connection to the CC-Link system shifts from the normal state to the erroneous state, the CC-Link system
connection must be returned to the normal state.
* Communication with the host device is enabled when the CC-Link system connection is recovered to the normal state.
1-6
333 CC-Link system connection error state when the robot controller power is turned ON
The connection error may be caused by the following:
It is impossible to connect to the CC-Link system.
Master module
Robot
controller
Outline
Robot
controller
Master module
When a system connection error condition exists, the controller status is as shown below. Communication with the host
device is disabled at this time.
The emergency stop input turns off with SI(00) in the robot controller.
The stop signal turns off with SI (06) in the robot controller.
The emergency stop signal terminal in the SAFETY connector is valid.
When a parallel I/O is provided, the parallel I/O's stop signal is enabled unless the parallel I/O has been disabled by a
parameter setting.
* Communication with the host device is enabled when the CC-Link system connection is recovered to the normal state.
* The "12.531: CC-Link communication error" is added to the alarm history in the robot controller.
1-7
Chapter 2 Connection
1. Settings the CC-Link compatible module
2-1
2. Noise measures
2-2
2.1
2-2
2-3
3.1
2-3
3.2
2-3
Set value
Initial value
Remarks
0: DISABLE, 1: ENABLE
1: ENABLE
1 to 61
CC-Link version
0: Ver.1.10, 1: Ver.2.00
Setting method
NOTE
Always save the controller's internal data to an external memory such as support software, etc., before changing
the controller settings.
2 Press the [F5] (OPTION) key to display the Option Parameters screen.
3 Select the desired parameter.
Use the cursor up/down keys to select the parameter to be edited, then press the [F1] (EDIT) key.
2-1
2
Connection
2222
Mount a ferrite core onto the input power cable connected to the input power connector on the front panel of
the robot controller.
WARNING
Completely shut down the power supply to the input power cable before starting this work.
Connection
Procedures
1. Mount the ferrite core (supplied) onto the input power cable. The ferrite core should be placed as close to the robot
controller body as possible.
2. Fix the mounted ferrite core with a tie band, etc.
2-2
CAUTION
Securely fix the ferrite core. If the ferrite core is not mounted, trouble could occur with the CC-Link system
operations.
Connection
ERROR
1
2
3
4
5
RUN
Name
Wiring
DA
Blue
DB
White
DG
Yellow
SLD
Shield
FG
WARNING
Before connecting the cable, completely shut down the power supplied to the robot controller.
3333
Connect the CC-Link system cable to the CC-Link system connector on the CC-Link compatible module.
Connection method
Connect the CC-Link cables to the CC-Link system's accessory connectors. Connect the wiring as shown above, or refer
to the connector table, being sure that the connections are correct. After these connections are completed, connect the
accessory connector to the controller's CC-Link compatible module connector.
* When connecting a terminator, connect it across DA-DB.
CAUTION
Securely fix the CC-Link system cable.
Carefully carry out the work to avoid applying excessive force on the CC-Link cable.
The CC-Link system connector does not have a locking mechanism. Use care to prevent the cable from being
pulled out of the connector (disconnected).
Carefully carry out the work so that the CC-Link system cable is not incorrectly wired.
Refer to the master module manual for details on the CC-Link system cable connection.
3333
The master module in the CC-Link system has a function to test the line to the remote station.
Using this function, confirm that the robot controller is accurately recognized as a remote station in the
CC-Link system.
Refer to the master module manual for details on the line test.
CAUTION
If the line test results indicate a correct connection, place the CC-Link system cable into a conduit, or fix it with a
clamp.
2-3
Chapter 3 Communication
1. State when the robot controller power is turned ON
3-1
3-2
2.1
3-2
3-3
3.1
Receiving data
3-3
3.2
Transmitting data
3-5
3-6
4.1
3-7
4.2
3-7
4.3
3-8
111
The following conditions must be satisfied to correctly connect to the CC-Link system.
The CC-Link system cable must be physically connected.
The station No., communication speed, and the CC-Link version must be correctly set.
The master module is operating correctly.
Additionally, the CC-Link system specification robot controller always starts the operation in the servo OFF
state after the power has been turned ON.
* For details about LED indications, see Chapter 4 "2. Meanings of LEDs on CC-Link compatible module".
3-1
3
Communication
When connected to the CC-Link system correctly, the LEDs on the CC-Link compatible module show the normal state.
At this time, the emergency stop signal and stop signal in the CC-Link system will be valid, so both signals need to be
turned ON after the initial data process.
The emergency stop terminal in the SAFETY connector is always valid.
When a parallel I/O is provided, the parallel I/O's stop signal is enabled unless the parallel I/O has been disabled at the
"option board ENABLE" parameter setting.
2222
The initial data process is carried out to confirm that the robot controller is correctly
connected to the CC-Link system. Prepare the process on the master module side so that the following type of
process is always carried out before data is exchanged.
1. Confirm that RX(n + 7)8 (initial data process request flag) is ON.
2. Turn RY(n + 7)8 (initial data process completion flag) ON.
3. Confirm that RX(n + 7)8 (initial data process request flag) is OFF.
4. Confirm that RX(n + 7)B (remote Ready) is ON.
Communication
RX (n + 7) 8
on
off
on
RX (n + 7) B off
RY (n + 7) 8
3-2
on
off
CAUTION
RX (n + 7) B (remote Ready) must always be used on the master module side as the flag to indicate whether the
robot controller is operating correctly.
3333
Receiving data
The data in the output area of the master module is read via the serial input ports of the robot controller.
The following shows the correspondence between the output area of the master module and the serial input
port of the robot controller.
Address of master module
output area
Robot controller
input port No.
Robot controller
input port No.
RYn7~RYn0
SI(07)~SI(00)
RWwn
SIW(0)
RYnF~RYn8
SI(17)~SI(10)
RWw(n + 1)
SIW(1)
SI(27)~SI(20)
RWw(n + 2)
SI(37)~SI(30)
RWw(n + 3)
SI(47)~SI(40)
RWw(n + 4)
SI(57)~SI(50)
RWw(n + 5)
SI(67)~SI(60)
RWw(n + 6)
SI(77)~SI(70)
RWw(n + 7)
SI(107)~SI(100)
RWw(n + 8)
SI(117)~SI(110)
RWw(n + 9)
SI(127)~SI(120)
RWw(n + 10)
SI(137)~SI(130)
RWw(n + 11)
SI(147)~SI(140)
RWw(n + 12)
SI(157)~SI(150)
RWw(n + 13)
RWw(n + 14)
RWw(n + 15)
SID(2)
SID(4)
SID(6)
SID(8)
SID(10)
SID(12)
SID(14)
SIW(2)
SIW(3)
SIW(4)
SIW(5)
SIW(6)
SIW(7)
SIW(8)
SIW(9)
SIW(10)
SIW(11)
SIW(12)
SIW(13)
SIW(14)
SIW(15)
CAUTION
SIW(0) and SIW(1) are viewed as dedicated input ports. The robot controller handles these ports as input ports of
meaningful data, so do not use them as general-purpose input ports.
Set these ports to "0" in most cases.
When reading the bit information from the output area of the master module with the robot controller, write
the following commands in the robot program in the same manner as the DI input port.
WAIT command
Assignment statement
Example: To wait for RY(n + 1)0 to turn ON.
WAIT SI (20) = 1 The robot program will wait for SI(20) to turn ON.
Example: To read the RY(n + 1) 0 to RY(n + 1)7 data in variable A.
A = SI2 () The SI2() data will be converted into a decimal value and assigned to
variable A. If SI2() is 7Fh, variable A will be 127.
NOTE
The SI statement in the robot language can be defined from SI0() to SI27(), but the CC-Link compatible module
accepts from SI0() to SI15().
3-3
Communication
When reading the word information from the output area of the master module with the robot controller, create
the robot program using the assignment statement.
Example: To read the RWw (n + 2) word data in variable B.
B = SIW (2) The SIW(2) data will be assigned to variable B as a decimal value. If
SIW(2) is 01FFh, variable B will be 511.
Example: To read the RWw (n + 2) and RWw (n + 3) double word data into variable C.
C = SID (2) The SIW(2) and SIW(3) data will be assigned to variable C as a decimal
value. If SIW(2) is 0010h and SIW(3) is 0001h, variable C will be
65552.
Communication
3-4
NOTE
The word data written with SIW(n) has the uncoded little endian format.
The double word data written with SID(n) has the coded little endian format.
3333
Transmitting data
The serial output port data of the robot controller is transmitted to the input area of the master module.
The correspondence between the serial output port of the robot controller and the input area of the master
module is shown below.
Address of master module
input area
Robot controller
output port No.
Robot controller
output port No.
RXn7~RXn0
SO(07)~SO(00)
RWrn
SOW(0)
RXnF~RXn8
SO(17)~SO(10)
RWr(n + 1)
SOW(1)
SO(27)~SO(20)
RWr(n + 2)
SO(37)~SO(30)
RWr(n + 3)
SO(47)~SO(40)
RWr(n + 4)
SO(57)~SO(50)
RWr(n + 5)
SO(67)~SO(60)
RWr(n + 6)
SO(77)~SO(70)
RWr(n + 7)
SO(107)~SO(100)
RWr(n + 8)
SO(117)~SO(110)
RWr(n + 9)
SO(127)~SO(120)
RWr(n + 10)
SO(137)~SO(130)
RWr(n + 11)
SO(147)~SO(140)
RWr(n + 12)
SO(157)~SO(150)
RWr(n + 13)
RWr(n + 14)
RWr(n + 15)
SOD(4)
SOD(6)
SOD(8)
SOD(10)
SOD(12)
SOD(14)
SOW(2)
SOW(3)
SOW(4)
SOW(5)
SOW(6)
SOW(7)
SOW(8)
SOW(9)
SOW(10)
SOW(11)
SOW(12)
SOW(13)
SOW(14)
SOW(15)
CAUTION
SIW(0) and SIW(1) are viewed as dedicated input ports.
When writing the bit information of the robot controller to the input area of the master module, write the
following commands in the robot program in the same manner as the DO input port.
SET/RESET command
Assignment statement
OUT command
Example: To turn RX(n + 1)0 ON.
SET SO (20) or SO (20) = 1 SO (20) will turn ON.
Example: To write variable A data into RX(n + 1)0 to RX(n + 1)7.
SO2 () = A The variable A data will be converted into a binary value and assigned
to SO2(). If variable A is 127, SO2() will be 7Fh.
NOTE
The SO statement in the robot language can be defined from SO2() to SO27(), but the CC-Link compatible
module accepts from SO2() to SO15().
When writing the word information of the robot controller to the input area of the master module, create the
robot program using the assignment statement.
Example: To write 512 into RWr (n + 2) as word data.
SOW (2) = 512 512 is assigned to SOW(2), and then SOW(2) becomes 0200h.
Example: To write 69905 as the double word data for RWr (n + 2) and RWr (n + 3).
SOD (2) = 69905 69905 is assigned to SOD(2), and then SOW(2) becomes 1111h and
SOW(3) becomes 0001h.
NOTE
The word data written with SOW(n) has the uncoded little endian format.
The double word data written with SOD(n) has the coded little endian format.
3-5
Communication
SOD(2)
3
Communication
3-6
4444
[MONITOR] [I/O].
Input/output
F7
SI
F8
SO
F9
SIW
F10
SOW
3
Communication
4444
NOTE
There are no displays for SIW and SOW details.
3-7
4444
3
Communication
3-8
Chapter 4 Troubleshooting
1. Check items before starting up the CC-Link system
4-1
4-2
3. Troubleshooting
4-3
4-5
111
Are the CC-Link compatible module station No., communication speed, and CC-Link version correctly set?
(Refer to Chapter 2 "1. Settings the CC-Link compatible module")
Is the CC-Link system cable connected to the CC-Link compatible module securely?
(Refer to Chapter 2 "3. Connecting to the CC-Link system")
Is the master module set for the 4-station occupying remote device?
(Refer to the users manual for master module.)
Has the initial data process been carried out between the master module and robot controller?
(Refer to Chapter 3 "2.1 Initial data process")
Is the master module judging that the robot controller is correctly functioning using RX(n + 7)8 (remote Ready)?
Check
4
Troubleshooting
4-1
Monitor LED
ERROR
RUN
4
Front of the module
Troubleshooting
The LEDs on the CC-Link compatible module express the controller and network statuses.
Use these LEDs for confirmation purposes if an error occurs.
ERROR LED
Status
OFF
Lit in red
Flashing red
Flashing red (fast)
Description
Switches OFF when the power is OFF and when no errors are active.
A serious error has occurred.
A CRC error has occurred.
Communication with the CC-Link system has been disabled due to a station No., communication
speed, or CC-Link version change which has been made at the programming box, etc.
RUN LED
Status
OFF
Lit in green
Lit in red
4-2
Description
Not connected to the network, time-out has occurred, or the controller power is OFF.
Normal connection to the network is established.
A serious error has occurred.
CAUTION
Even if the LED display indicates a normal communication status, data cannot be exchanged between the
master module and the controller unless the initial data process has been carried out correctly. Carry out the
initial data process by referring to Chapter 3 "2.1 Initial data process".
333 Troubleshooting
If a connection problem versus the robot controller occurs when starting or running the CC-Link system, check
the following items in their given order.
Robot controller front panel PWR LED and the 7-segment LED confirmation
Confirmation
contents
Cause
Corrective
measures
Measure the voltage at the AC power input terminal of the power connector with a multi-meter to check
that the operating power voltage is supplied.
* For details about the power supply voltage for the robot controller, refer to the users manual for robot controller.
Confirmation
contents
Cause
Corrective
measures
At the programming box's Diagnosis screen ([System] [Check]), verify that the "12.531: CC-Link
communication error", etc., is displayed.
(If multiple alarms have occurred simultaneously, the CC-Link related alarm may not display.)
Cause
Corrective
measures
Check that the LED display on the CC-Link compatible module are NOT as follows:
RUN: Green ON
ERROR: OFF
Cause
Corrective
measures
C heck whether the CC-Link system cable is disconnected or incorrectly connected and whether the
terminator is connected.
Check whether the CC-Link system cable is laid near the main circuit or power cable, or whether it is
bundled with these.
Check that the ferrite core is connected to the power supply cable of the robot controller.
Check the station No., communication speed, and CC-Link version settings for the CC-Link compatible
module.
Check that the master module is operating correctly.
Check that the robot controller on the master module is set to the remote device station.
Carry out the initial data process when connecting to the CC-Link system.
4-3
Troubleshooting
Using the master module's line test function, confirm robot controller is correctly connected to the
CC-Link system.
Cause
The CC-Link cable is laid near sources of noise such as the power cable.
Corrective
measures
Connect the ferrite core for noise measures onto the input power cable.
Wire the CC-Link cable away from noise sources such as the power cables.
4
Troubleshooting
4-4
NOTE
Refer to the master module manual for details on the line test function.
: &H000C &H0190
Meaning/Cause
Action
: &H000C &H0213
Meaning/Cause
Troubleshooting
Action
: &H000C &H0214
Meaning/Cause
Action
: &H000C &H0258
Meaning/Cause
Action
a.
b.
c.
d.
e.
f.
: &H000C &H02F8
Meaning/Cause
Action
4-5
: &H000C &H0384
Meaning/Cause
Action
: &H000C &H0338
Meaning/Cause
Action
4
Troubleshooting
4-6
Chapter 5 Specifications
1. Profile
5-1
5-4
5-7
3.1
5-7
3.2
5-8
3.3
5-9
3.4
5-10
5-11
111 Profile
YAMAHA robot controller (4-station occupying)
Remote input/output
Remote Master
Address
Master Remote
Signal name
Address
Signal name
RXn0
RYn0
RXn1
RYn1
RXn2
RYn2
RXn3
RYn3
RXn4
RYn4
*1
RYn5
RXn5
RXn6
*1
RXn7
RYn6
RYn7
*1
RXn8
RYn8
RXn9
RYn9
RXnA
RYnA
RXnB
RYnB
RXnC
RYnC
RXnD
RYnD
RYnE
RYnF
RXnE
RXnF
*1
to
RY(n + 1)0
SO(20) to SO(27): General-purpose output
to
RX(n + 1)7
RY(n + 1)7
RX(n + 1)8
RY(n + 1)8
to
RX(n + 1)F
to
to
RY(n + 2)7
RX(n + 2)8
RY(n + 2)8
SO(50) to SO(57): General-purpose output
RX(n + 2)F
to
to
RY(n + 3)7
RX(n + 3)8
RY(n + 3)8
SO(70) to SO(77): General-purpose output
RX(n + 3)F
to
to
RY(n + 4)7
RX(n + 4)8
RY(n + 4)8
SO(110) to SO(117): General-purpose output
RX(n + 4)F
to
to
RY(n + 5)7
RX(n + 5)8
RY(n + 5)8
SO(130) to SO(137): General-purpose output
RX(n + 5)F
to
RY(n + 5)F
RX(n + 6)0
to
RY(n + 5)0
SO(120) to SO(127): General-purpose output
RX(n + 5)7
to
RY(n + 4)F
RX(n + 5)0
to
RY(n + 4)0
SO(100) to SO(107): General-purpose output
RX(n + 4)7
to
RY(n + 3)F
RX(n + 4)0
to
RY(n + 3)0
SO(60) to SO(67): General-purpose output
RX(n + 3)7
to
RY(n + 2)F
RX(n + 3)0
to
RY(n + 2)0
SO(40) to SO(47): General-purpose output
RX(n + 2)7
to
RY(n + 1)F
RX(n + 2)0
to
*1
RY(n + 6)0
SO(140) to SO(147): General-purpose output
RX(n + 6)7
to
RY(n + 6)7
5-1
5
Specifications
RX(n + 1)0
*1
Remote Master
Address
RX(n + 6)8
to
Address
to
RY(n + 6)F
RX(n + 7)0
RY(n + 7)0
RX(n + 7)1
RY(n + 7)1
RX(n + 7)2
RY(n + 7)2
RX(n + 7)4
Reserved
RY(n + 7)3
*1
RY(n + 7)4
RX(n + 7)5
RY(n + 7)5
RX(n + 7)6
RY(n + 7)6
RX(n + 7)7
RX(n + 7)8
RX(n + 7)9
RX(n + 7)A
RX(n + 7)B
RX(n + 7)C
RX(n + 7)D
RX(n + 7)E
RX(n + 7)F
Signal name
RY(n + 6)8
RX(n + 6)F
RX(n + 7)3
Master Remote
Signal name
Reserved
*1
RY(n + 7)7
Initial data process request flag
Reserved
*1
RY(n + 7)A
Remote ready
Reserved
RY(n + 7)8
RY(n + 7)9
Reserved
*1
Reserved
*1
RY(n + 7)B
RY(n + 7)C
*1
(Reserved:QnA)
RY(n + 7)D
*1
RY(n + 7)E
RY(n + 7)F
(Reserved:QnA)
*1
Specifications
5-2
WARNING
Although the Emergency Stop input "SI (00)" performs a function which turns the servo OFF and
stops robot operation, do not rely solely on this input for safety purposes.
To stop the robot (servo OFF) for safety purposes, be sure to install a hard-wired safety circuit
which uses a safety connector with an emergency stop contact. In addition, the CC-Link
compatible module's emergency stop input must also be turned OFF.
Address
Remote Master
Address
Name
Master Remote
Address
RWrn
Dedicated SOW(0)
RWwn
RWr(n + 1)
Dedicated SOW(1)
RWw(n + 1)
General-purpose
SOD(2)
General-purpose SOW(2)
RWw(n + 2)
General-purpose SOW(3)
RWw(n + 3)
General-purpose
SOD(4)
General-purpose SOW(4)
RWw(n + 4)
General-purpose SOW(5)
RWw(n + 5)
General-purpose
SOD(6)
General-purpose SOW(6)
RWw(n + 6)
General-purpose SOW(7)
RWw(n + 7)
General-purpose
SOD(8)
General-purpose SOW(8)
RWw(n + 8)
General-purpose SOW(9)
RWw(n + 9)
General-purpose
SOD(10)
General-purpose SOW(10)
RWw(n + 10)
General-purpose SOW(11)
RWw(n + 11)
General-purpose
SOD(12)
General-purpose SOW(12)
RWw(n + 12)
General-purpose SOW(13)
RWw(n + 13)
General-purpose
SOD(14)
General-purpose SOW(14)
RWw(n + 14)
General-purpose SOW(15)
RWw(n + 15)
RWr(n + 2)
RWr(n + 3)
RWr(n + 4)
RWr(n + 5)
RWr(n + 6)
RWr(n + 7)
RWr(n + 8)
RWr(n + 9)
RWr(n + 10)
RWr(n + 11)
RWr(n + 12)
RWr(n + 13)
RWr(n + 14)
RWr(n + 15)
Name
Dedicated SIW(0)
Dedicated SIW(1)
General-purpose
SID(2)
General-purpose SIW(2)
General-purpose
SID(4)
General-purpose SIW(4)
General-purpose
SID(6)
General-purpose SIW(6)
General-purpose
SID(8)
General-purpose SIW(8)
General-purpose
SID(10)
General-purpose SIW(10)
General-purpose
SID(12)
General-purpose SIW(12)
General-purpose
SID(14)
General-purpose SIW(14)
General-purpose SIW(3)
General-purpose SIW(5)
General-purpose SIW(7)
General-purpose SIW(9)
General-purpose SIW(11)
General-purpose SIW(13)
General-purpose SIW(15)
5
Specifications
5-3
Signal name
Description
RXn0
RXn1
RXn2
RXn3
RXn4
RXn8
RXn9
RXnA
RXnB
RXnC
RXnD
RX(n + 1)0
to
RX(n + 1)7
Specifications
to
to
RX(n + 6)8
to
RX(n + 6)F
RX(n + 7)8
RX(n + 7)B
Remote ready
5-4
NOTE
When the area check output function is used, the area check outputs can be assigned to SO(20) ~ SO(157).
Signal name
Description
RYn1
Turn ON to cancel the emergency stop state and put the robot servomotor in
the ON state. The servo ON is executed when this signal is switched from
OFF to ON.
It is necessary that the emergency stop input SI(00) is in the ON state and
all emergency stop states (emergency stop terminal in the SAFETY
connector, etc.) on the robot controller are cancelled.
RYn6
RYn8
RYnA
RYnC
RYnD
RYnE
RYnF
RY(n + 1)0
to
RY(n + 1)7
to
RY(n + 6)8
to
RY(n + 6)F
RY(n + 7)8
Refers to the SI port value, executes the WAIT command, and uses the ON/
OFF state of the general-purpose input.
5-5
5
Specifications
RYn0
NOTE
When the RCX141 or RCX221 is changed to the RCX240 and SI(17) needs to be used for the return-to-origin
input, SI(17) is used for "absolute reset/return-to-origin".
When the RCX340 is used with a robot whose axis configuration includes the absolute type, incremental type,
and semi-absolute type axes and SI(17) is used for " both the absolute and incremental axes return-to-origin",
the return-to-origin is performed for the absolute type axis each time the return-to-origin is performed for the
incremental type or semi-absolute type axis.
So, when the robot axis configuration includes the absolute type, incremental type, and semi-absolute type
axes, it is recommended to perform the absolute type axis return-to-origin with SI(17) and incremental type
axes return-to-origin with SI(14).
Address (RWw)
Address
Description
Dedicated SIW(0)
RWw(n + 1)
Dedicated SIW(1)
RWw(n + 2)
General-purpose
SID(2)
General-purpose SIW(2)
General-purpose
SID(4)
General-purpose SIW(4)
General-purpose
SID(6)
General-purpose SIW(6)
General-purpose SIW(8)
RWw(n + 9)
General-purpose
SID(8)
RWw(n + 10)
General-purpose
General-purpose SIW(10)
RWw(n + 11)
SID(10)
General-purpose SIW(11)
RWw(n + 12)
General-purpose
SID(12)
General-purpose SIW(12)
General-purpose
SID(14)
General-purpose SIW(14)
RWw(n + 3)
RWw(n + 4)
RWw(n + 5)
RWw(n + 6)
Name
RWwn
RWw(n + 7)
RWw(n + 8)
Specifications
RWw(n + 13)
RWw(n + 14)
RWw(n + 15)
General-purpose SIW(3)
General-purpose SIW(5)
General-purpose SIW(7)
General-purpose SIW(9)
Used to input the word or double word data from the SIW or SID
port.
Or, used as the command data area of the remote command.
General-purpose SIW(13)
General-purpose SIW(15)
n : Start address of the output area assigned to the master module
Address (RWr)
Address
Name
RWrn
RWr(n + 1)
RWr(n + 2)
RWr(n + 3)
RWr(n + 4)
RWr(n + 5)
RWr(n + 6)
RWr(n + 7)
RWr(n + 8)
RWr(n + 9)
RWr(n + 10)
RWr(n + 11)
RWr(n + 12)
RWr(n + 13)
RWr(n + 14)
RWr(n + 15)
Description
Dedicated SOW(0)
Dedicated SOW(1)
General-purpose
SOD(2)
General-purpose SOW(2)
General-purpose
SOD(4)
General-purpose SOW(4)
General-purpose
SOD(6)
General-purpose SOW(6)
General-purpose
SOD(8)
General-purpose SOW(8)
General-purpose
SOD(10)
General-purpose SOW(10)
General-purpose
SOD(12)
General-purpose SOW(12)
General-purpose
SOD(14)
General-purpose SOW(14)
General-purpose SOW(3)
General-purpose SOW(5)
General-purpose SOW(7)
General-purpose SOW(9)
Used to output the word or double word data from the SOW or
SOD port.
Or, used as the response area of the remote command.
General-purpose SOW(11)
General-purpose SOW(13)
General-purpose SOW(15)
n : Start address of the output area assigned to the master module
5-6
on
off
RX( n + 7 ) B
Remote Ready
on
RY( n + 7 ) 8
Initial data process complete flag
on
off
off
a)
b)
c)
d)
CAUTION
The dedicated input ON/OFF process from the master module to the controller must be carried out at an interval
of 100ms or more. If the interval is too short, the dedicated input may not be recognized. (This also applies to
the same dedicated input and differing dedicated input intervals.)
If dedicated outputs are provided for the dedicated inputs from the master module to controller, use them.
Specifications
5-7
3333
on
RXn 1 [SO( 0 1 ) ]
CPU_OK status output
on
RXn 2 [SO( 0 2 ) ]
Servo ON status output
on
RXn 3 [SO( 0 3 ) ]
Alarm status output
on
RYn 0 [SI( 0 0 ) ]
Emergency stop input
off
off
off
off
on
off
RYn 1 [SI( 0 1 ) ]
Servo ON input
on
RYn E [SI( 1 6 ) ]
Alarm reset input
on
off
off
a)
b) c)
d) e)
f) g) h) i)
j) k)
l)
Specifications
CAUTION
Provide an interval of 100ms or more when turning the dedicated input from the master module to the controller
ON and OFF. If the interval is too short, the dedicated input may not be recognized. (This also applies to the
interval for the same dedicated inputs or different dedicated inputs.)
Use this also if there is a dedicated output in response to the dedicated input from the master module to the
controller.
5-8
m)
3333
on
RXn 9 [SO( 1 1 ) ]
Return-to-origin complete
status output
on
RXn B [SO( 1 3 ) ]
Robot program running
output
on
RXn C [SO( 1 4 ) ]
Program reset status output
on
RYn 6 [SI( 0 6 ) ]
Stop input
off
off
off
off
on
off
RYn A [SI( 1 2 ) ]
Auto operation start input
on
SAFETY connector
auto mode input
(CE specs. only)
on
Programming box
manual lock input
on
Programming box
control authority
Release
RYn D [SI( 1 5 ) ]
Program reset input
on
off
off
off
Get
100ms or more
a)
b)
c)
d)
e)
f)
g) h) i)
CAUTION
Provide an interval of 100ms or more when turning the dedicated input from the master module to the controller
ON and OFF. If the interval is too short, the dedicated input may not be recognized. (This also applies to the
interval for the same dedicated inputs or different dedicated inputs.)
Use this also if there is a dedicated output in response to the dedicated input from the master module to the
controller.
5-9
Specifications
off
3333
on
off
RXn 9 [SO( 1 1 ) ]
Return-to-origin complete
status output
on
RXn B [SO( 1 3 ) ]
Robot program execution
status output
on
RYn 6 [SI( 0 6 ) ]
Stop input
on
RYn A [SI( 1 2 ) ]
Auto operation start input
on
off
off
off
off
a)
b)
c)
d) e)
f)
g) h)
i)
100ms or more
CAUTION
Provide an interval of 100ms or more when turning the dedicated input from the master module to the controller
ON and OFF. If the interval is too short, the dedicated input may not be recognized. (This also applies to the
interval for the same dedicated inputs or different dedicated inputs.)
Use this also if there is a dedicated output in response to the dedicated input from the master module to the
controller.
Specifications
5-10
Spec. Item
Controller model
RCX340
Version
Ver.1.10 / Ver.2.0
1 to 61 (rotary switch)
Remote input/output
CC-Link input/output points
Remote register
Monitor LEDs
Dedicated input
: 16 points
General-purpose input : 96 points
Dedicated output
: 16 points
General-purpose output : 96 points
Dedicated input
: 2 words
General-purpose input : 14 words
Dedicated output
: 2 words
General-purpose output : 14 words
RUN, ERROR
* Controllers I/O update intervals are 5 ms at shortest, but actual I/O update intervals may vary depending on the update time for
the master module.
5-11
Specifications
CAUTION
For the names and description of remote input/output signals and remote registers, refer to the tables shown in
"1. Profile" and "2. Details of remote input/ output signals" in this chapter.
The specifications and appearance are subject to change without prior notice due to continual improvement.
Chapter 6 Appendix
1. Definitions of terms
6-1
2. CSP+ files
6-2
SAFETY connector
This SAFETY connector is a controller connector that connects the emergency stop input and auto mode input.
Bit information
Bit data transmitted and received between master module and controller.
Word information
Word data transmitted and received between master module and controller.
Little endian
This little endian is a method that substitutes the LSB into the memory at low-order address and refers to the LSB when
the word information data is handed as double word data.
For example, when the value "00012345h" is substituted into SOD (2), "2345h" is substituted into SOW (2) of the first
word and "0001h" into SOW (3) of the second word.
6
Appendix
6-1
6
Appendix
6-2
A-1
1.1
A-1
1.2
Remote status
A-2
A-3
A-4
A-9
4.1
4.2
A-9
A-10
A-11
PTP designation
A-11
Arch designation
A-14
Linear interpolation
A-17
Circular interpolation
A-20
A-23
A-26
A-29
PTP designation
A-29
Linear interpolation
A-32
A-35
A-38
A-41
Point designation
A-41
A-44
A-47
A-50
Point designation
A-50
A-53
A-56
A-59
PTP designation
A-59
Arch designation
A-62
A-65
A-65
A-68
A-71
A-74
A-74
A-77
A-80
A-83
A-84
A-86
A-88
A-90
A-90
A-92
A-94
A-96
A-97
A-98
A-99
A-100
A-101
A-102
A-103
A-103
Linear interpolation
A-106
4.3
A-109
A-109
A-111
Point designation
A-111
A-114
A-117
A-120
A-121
A-121
A-123
A-125
A-125
A-127
A-129
A-129
A-130
A-132
A-132
A-134
4.4
A-136
A-136
A-138
A-140
A-141
A-141
A-143
A-145
A-147
A-149
A-151
A-151
A-153
A-156
A-156
Point addition/subtraction
A-158
A-160
A-162
A-162
A-164
4.5
A-166
A-167
A-167
A-169
A-171
A-172
A-174
A-176
A-178
4.6
4.7
A-180
A-181
A-183
A-185
A-187
A-187
A-189
A-192
A-194
A-196
A-198
A-199
A-200
A-201
A-203
A-205
A-206
A-207
A-209
A-210
A-212
4.8
A-214
A-214
A-216
A-217
1111
Address
RWrn
Status
Normal end
RWrn + 1
RWrn + 2
RWrn + 3
Contents
Response
Abnormal end
Address
Contents
RWwn
RWwn + 1
RWwn + 2
Not used
RWwn + 3
to
to
RWrn + 15
RWwn + 15
Command data
NOTE
Remote commands must be held until the status changes to a normal end (0x0200) or an abnormal end
(0x4000). If a remote command is changed before the status changes to an end, the status of the remote
command executed will not be reflected.
l Remote commands are run by assigning the command codes to the "RWwn", and command data to the RWwn + m.
When the controller receives the remote command, it starts the processing and sends the status (results) and its other
information to the master module by way of the "RWrn" and RWrn + m. When the remote command ends, assign the
status reset command (0x0000 (hexadecimal) ) to the "RWwn" to clear the status. The remote command can be run
when in command ready status (0x0000 (hexadecimal) ).
l Command data to be added to remote commands differs according to the particular remote command. For details,
Refer to "4. Remote command description" in this guide. Command data must always be entered before trying to set
the remote command.
l Contents of the remote command response sent as the remote command results differ according to the particular
remote command. For details, Refer to "4. Remote command description" in this guide.
l Data is set in binary code. When setting two pieces of 8-bit data such as character code data, set the upper bit data
into the higher address. If the data size is greater than 16 bits, set the upper bit data into the higher address. (little
endian)
For example, to set "12" in RWwn + 4, enter 0x3231 (hexadecimal)
(character code: "1" = 0x31, "2" = 0x32)
For example, to set 0x01234567 (hexadecimal) (=19,088,743) in the RWwn + 4 and RWwn + 5 registers, set 0x0123
(hexadecimal) in RWwn + 5 and set 0x4567 (hexadecimal) in RWwn + 4.
l The status code is sent to "m" when the remote command ends correctly.
l When the remote command ends incorrectly, an alarm group number is sent to RWrn + 1 and alarm category number
is sent to RWrn + 2 as a response. See the troubleshooting section of the robot controller user's manual for description
of the alarm group number and alarm category number.
For example, when 0x0002 (hexadecimal) was set in RWrn + 1 and 0x014E (hexadecimal) was set in RWrn + 2, this
shows that a "soft limit over" alarm has occurred.
A-1
1111
Remote status
The controller starts processing when the remote command is received and sends the status (results) to the
master module by way of "m".
RWrn
RWrn + 1
RWrn + 2
0x0000
0x0000
0x0100
0x0000
0x0200
0x4000
Meaning
From RWrn + 3
Response data
Alarm group number
NOTE
Remote commands must be held until the status changes to a normal end (0x0200) or an abnormal end
(0x4000). If a remote command is changed before the status changes to an end, the status of the remote
command executed will not be reflected.
RWrn + 1
RWrn + 2
A-2
Status
Response
RWwn + 1 to
RWwn + 15
RWrn
RWrn + 1 to
RWrn + 15
NOTE
Remote commands must be held until the status changes to a normal end (0x0200) or an abnormal end
(0x4000). If a remote command is changed before the status changes to an end, the status of the remote
command executed will not be reflected.
2. Enter the PTP movement command (0x0001) for the designated point into the "n".
3.The robot controller receives the remote command and starts running it if the command code and command
data can be executed. Status now shifts to command run status (0x0100). The robot moves to the position
designated as point 19 at the program speed (50% of normal speed). If the command cannot be executed,
status shifts to abnormal end status (0x4000) and the RWrn + 1 and RWrn + 2 values change to alarm codes.
4. When finished executing the remote command, status changes to normal end status (0x0200). Response
information is changed at the same time if present.
5. The current remote command has now finished, so set the status reset command (0x0000) in "RWwn" in
order to issue the next command.
6. The status and response shift to command ready status (0x0000).
A-3
Command data
RWwn
Remote commands and remote status codes are shown in hexadecimal notation.
Remote Command
Command contents
Meaning
Category
RWwn
Special
0x0000
0xR0nn
0xR1nn
0xR2nn
Arithmetic command
0x03nn
0x04nn
0xR5nn
0x06nn
Remote Status
Status contents
RWrn
RWrn + 1
0x0000
0x0000
0x0100
0x0200
0x4000
A-4
RWrn + 2
From RWrn + 3
Response data
Alarm group number
Meaning
0x0101
0x0105
0x0109
0x010D
0x0111
0x0214
Parameter referencing
0xR224
0x0304
0x0501
0xR502
0xR503
0xR505
0xR506
0x0507
0x0508
Message reference
0x0509
0xR50A
0xR50B
0xR50C
0xR50F
0xR510
0x0511
0x0512
0x0513
0xR514
0x0515
0x0516
NOTE
For details regarding safety settings and programming box control authority, refer to the robot controller user's
manual.
A-5
Categor y 1
No.
1-1
Command contents
MOVE command
0xR001
Arch designation
0xR002
Linear interpolation
0xR003
Circular interpolation
Direct PTP designation
1-2
MOVEI command
0xR004
Millimeter units
0xR006
Pulse units
0xR007
0xR009
Linear interpolation
Direct PTP designation
1-3
DRIVE command
DRIVEI command
1-6
1-7
Pallet command
Jog movement command
0xR00F
Millimeter units
0xR012
Pulse units
0xR013
Millimeter units
0xR016
Pulse units
0xR017
0xR010
Point designation
Direct designation
1-5
0xR00E
Pulse units
Point designation
Direct designation
1-4
0xR00A
Millimeter units
0xR014
PTP designation
0xR018
Arch designation
0xR019
Pulse units
0xR020
0xR021
0xR022
Pulse units
0xR024
0xR025
0xR026
1-8
0xR027
1-9
0xR028
1-10
0xR030
1-11
1-12
Return-to-origin command
1-13
Servo command
0xR031
Robot units
0xR032
Axis units
0xR033
On designation
0xR034
Off designation
0xR035
Free designation
0xR036
1-14
1-15
0xR039
1-16
0xR03A
1-17
0xR03B
1-18
0xR03C
1-19
1-20
1-21
MOVET command
1-22
1-23
0xR038
0xR03D
OFF
0x0041
ON
0x0042
PWR
0x0043
0xR044
Linear interpolation
0xR045
Point designation
0xR04B
0xR048
Direct designation
Millimeter units
0xR04C
Pulse units
0xR04D
A-6
Categor y 2
No.
Command contents
2-1
Point-related command
2-2
2-3
Pallet-related command
Shift-related command
2-5
Hand-related command
0x0100
0x0101
0x0104
0x0105
0x0108
0x0109
0x010C
0x010D
0xR110
0x0111
Categor y 3
No.
3-1
Command contents
Static variable-related commands
Value
0x0200
Variable
0x0201
Addition
Value
0x0204
Variable
0x0205
Value
0x0208
Subtraction
Multiplication
Division
Reference
3-2
3-3
Parameter-related command
Point-related command
Assignment
Variable
0x0209
Value
0x020C
Variable
0x020D
Value
0x0210
Variable
0x0211
Variable
0x0214
Assignment
0xR220
Reference
0xR224
Point assignment
0x0230
Addition
0x0234
Subtraction
0x0235
0x0238
Point element
assignmen
0x0240
0x0241
Shift element
assignment
0x0245
Categor y 4
No.
4-1
Command contents
I/O port-related commands
Assignment
Reference
0x0300
Bit units
0x0301
Port units
0x0304
Categor y 5
No.
Command contents
5-1
5-2
Program execution
Program execution
0x0402
0x0403
0x0404
0x0405
5-3
Program reset
0x0406
5-4
0x0408
A-7
A
Remote command guide
2-4
Categor y 6
No.
Command contents
6-1
0x0501
6-2
0xR502
6-3
6-4
0xR503
Pulse units
0xR505
Millimeter units
0xR506
6-5
0x0507
6-6
0x0508
6-7
Message reference
0x0509
6-8
0xR50A
6-9
0xR50B
6-10
0xR50C
6-11
0xR50F
6-12
0xR510
6-13
0x0511
6-14
0x0512
6-15
0x0513
6-16
0xR514
6-17
0x0515
6-18
0x0516
Categor y 7
No.
A-8
Command contents
7-1
0x0602
7-2
0x0603
7-3
0x0604
Command
Address
RWwn
RWwn + 1
Contents
Value
Command code
0x0000
Not used
0x0000
to
RWwn + 15
Status
Address
RWrn
RWrn + 1
to
Contents
Value
Status code
Response
0x0000
RWrn + 15
A-9
A
Remote command guide
This command is executed to set the status to command ready status (0x0000).
Remote commands cannot be executed unless in command ready status (0x0000). Therefore, this command
must be executed to execute the next remote command after executing the remote command.
4444
Command contents
MOVE command
0xR001
Arch designation
0xR002
Linear interpolation
0xR003
Circular interpolation
Direct PTP designation
1-2
MOVEI command
DRIVE command
DRIVEI command
1-6
1-7
Pallet command
Jog movement command
0xR007
0xR009
0xR00A
Millimeter units
0xR00E
Pulse units
0xR00F
Millimeter units
0xR012
Pulse units
0xR013
Point designation
0xR010
Point designation
Direct designation
1-5
Pulse units
Linear interpolation
Direct designation
1-4
0xR006
1-3
0xR004
Millimeter units
0xR014
Millimeter units
0xR016
Pulse units
0xR017
PTP designation
0xR018
Arch designation
0xR019
Pulse units
0xR020
0xR021
0xR022
Pulse units
0xR024
0xR025
0xR026
1-8
0xR027
1-9
0xR028
1-10
0xR030
1-11
1-12
Return-to-origin command
1-13
Servo command
0xR031
Robot units
0xR032
Axis units
0xR033
On designation
0xR034
Off designation
0xR035
Free designation
0xR036
1-14
1-15
0xR039
1-16
0xR03A
1-17
0xR03B
1-18
0xR03C
1-19
1-20
1-21
MOVET command
1-22
1-23
0xR038
0xR03D
OFF
0x0041
ON
0x0042
PWR
0x0043
0xR044
Linear interpolation
0xR045
Point designation
0xR04B
0xR048
Direct designation
Millimeter units
0xR04C
Pulse units
0xR04D
A-10
444444
MOVE command
PTP designation
This command moves the robot to a target position in PTP motion by specifying the point number.
Command
RWwn
RWwn + 1
RWwn + 2
Contents
Command code
bit 11 bit 0
Robot designation
bit 15 bit 12
Command flag
Value
0xR001
Robot number
bit 0
bit 2 bit 1
a
bb
bit 4 bit 3
(0: Fixed)
bit 5
bit 6
bit 13 bit 7
(0: Fixed)
bit 14
bit 15
bit 0
Axis 1
bit 1
Axis 2
bit 2
Axis 3
bit 3
Axis 4
bit 4
Axis 5
bit 5
Axis 6
bit 15 bit 6
(0: Fixed)
0x00tt
RWwn + 3
Specified speed
0xssss
RWwn + 4
Point numbe
0xpppp
RWwn + 5
Not used
0x0000
to
RWwn + 9
RWwn + 10
Acceleration designation
RWwn + 11
Deceleration designation
RWwn + 12
Not used
0xrrrr
0xrrrr
0x0000
to
RWwn + 15
bb
Value
Meaning
Meaning
00
Reference range
-
01
1 to 10000
10
Speed is specified in %.
1 to 100
Meaning
Acceleration is specified.
A-11
Address
p, m
Value
Meaning
Deceleration is specified.
Value
Meaning
No output.
Output.
* The "pulse units" and "millimeter units" current position output designation flags cannot be designated at the
same time. Doing so will result in the "4.2 Input format error".
tt
: Specify the axis to move in bit pattern using lower 8 bits. Valid when axis designation flag is 1.
ssss
pppp
rrrr
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
RWrn + 2
RWrn + 3
RWrn + 4
Axis-1 data
0xbbbbbbbb
Axis-2 data
0xbbbbbbbb
Axis-3 data
0xbbbbbbbb
Axis-4 data
0xbbbbbbbb
Axis-5 data
0xbbbbbbbb
Axis-6 data
0xbbbbbbbb
RWrn + 5
RWrn + 6
RWrn + 7
RWrn + 8
RWrn + 9
RWrn + 10
RWrn + 11
RWrn + 12
RWrn + 13
RWrn + 14
RWrn + 15
bbbbbbbb
Abnormal end
Address
RWrn
Contents
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
A-12
Value
Status code
aaaa
bbbb
Example:
Specify the MOVE command with PTP designation as
shown at right, when moving all axes of the Robot 1 to
point number 100 at 50% speed and with the current
position being output in pulse units.
Value
RWwn
0x0001
RWwn + 1
0x4004
RWwn + 2
0x0000
RWwn + 3
0x0032
RWwn + 4
0x0064
RWwn + 5
0x0000
RWwn + 6
0x0000
RWwn + 7
0x0000
RWwn + 8
0x0000
RWwn + 9
0x0000
RWwn + 10
0x0000
RWwn + 11
0x0000
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Address
Value
RWrn
0x0200
Axis 1
= 123456
RWrn + 1
0x0000
Axis 2
= -123
RWrn + 2
0x0000
=0
RWrn + 3
0x0000
RWrn + 4
0xE240
Other axes
RWrn + 5
0x0001
RWrn + 6
0xFF85
RWrn + 7
0xFFFF
RWrn + 8
0x0000
RWrn + 9
0x0000
RWrn + 10
0x0000
RWrn + 11
0x0000
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
A-13
A
Remote command guide
Address
Arch designation
This command moves the robot to a target position in arch motion by specifying the point number, arch axis
and arch data.
Command
Address
RWwn
RWwn + 1
RWwn + 2
Contents
Value
Command code
bit 11 bit 0
Robot designation
bit 15 bit 12
Command flag
bit 0
bit 2 bit 1
bb
bit 3
(0: Fixed)
0xR002
Robot number
a
bit 4
bit 13 bit 5
(0: Fixed)
bit 14
bit 15
bit 0
Axis 1
bit 1
Axis 2
bit 2
Axis 3
bit 3
Axis 4
bit 4
Axis 5
bit 5
Axis 6
bit 7 bit 6
(0: Fixed)
bit 8
Axis 1
bit 9
Axis 2
bit 10
Axis 3
bit 11
Axis 4
bit 12
Axis 5
bit 13
Axis 6
bit 15 bit 14
(0: Fixed)
0xuutt
RWwn + 3
Specified speed
0xssss
RWwn + 4
Point number
0xpppp
RWwn + 5
Not used
0x0000
RWwn + 6
RWwn + 7
RWwn + 8
0xqqqqqqqq
0xqqqqqqqq
0xqqqqqqqq
RWwn + 9
RWwn + 10
RWwn + 11
RWwn + 12
RWwn + 13
RWwn + 14
Not used
0x0000
RWwn + 15
bb
A-14
Value
Meaning
Meaning
00
Reference range
-
01
1 to 10000
10
Speed is specified in %.
1 to 100
p, m
Value
Meaning
Pulse units
Millimeter units
No output.
Output.
* The "pulse units" and "millimeter units" current position output designation flags cannot be designated at the
same time. Doing so will result in the "4.2 Input format error".
tt
uu
: Specify the arch motion axis in bit pattern using upper 8 bits.
Specified arch axis is one axis only.
ssss
pppp
qqqqqqqq
: Specify the arch position data and the arch start or end position data in 32 bits. (little endian)
Data should be integers when units are in pulses.
Data should be integers (x1000) when units are in millimeters.
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
RWrn + 2
RWrn + 3
RWrn + 4
Axis-1 data
0xbbbbbbbb
Axis-2 data
0xbbbbbbbb
Axis-3 data
0xbbbbbbbb
Axis-4 data
0xbbbbbbbb
Axis-5 data
0xbbbbbbbb
Axis-6 data
0xbbbbbbbb
RWrn + 5
RWrn + 6
RWrn + 7
RWrn + 8
RWrn + 9
RWrn + 10
RWrn + 11
RWrn + 12
RWrn + 13
RWrn + 14
RWrn + 15
bbbbbbbb
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
A-15
Value
Example:
Axis 1
Address
Value
RWwn
0x0002
RWwn + 1
0x8014
RWwn + 2
0x0400
RWwn + 3
0x0032
RWwn + 4
0x0064
RWwn + 5
0x0000
RWwn + 6
0x0000
RWwn + 7
0x0000
RWwn + 8
0x03E8
RWwn + 9
0x0000
RWwn + 10
0x0000
RWwn + 11
0x0000
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
= 12.345
Address
Value
Axis 2
= -0.123
RWrn
0x0200
Axis 3
= 5.000
RWrn + 1
0x0000
Axis 4
= 9.023
RWrn + 2
0x0000
Other axes
= 0.000
RWrn + 3
0x0000
RWrn + 4
0x3039
A-16
RWrn + 5
0x0000
RWrn + 6
0xFF85
RWrn + 7
0xFFFF
RWrn + 8
0x1388
RWrn + 9
0x0000
RWrn + 10
0x233F
RWrn + 11
0x0000
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
Linear interpolation
This command moves the robot to a target position by linear interpolation by specifying the point number.
Command
Address
Contents
Value
Command code
Robot designation
bit 15 bit 12
Robot number
RWwn + 1
Command flag
bit 0
(0: Fixed)
bit 2 bit 1
bb
bit 4 bit 3
(0: Fixed)
RWwn + 2
bit 11 bit 0
0xR003
a
bit 5
bit 6
bit 13 bit 7
(0: Fixed)
bit 14
bit 15
bit 0
Axis 1
bit 1
Axis 2
bit 2
Axis 3
bit 3
Axis 4
bit 4
Axis 5
bit 5
Axis 6
bit 15 bit 6
(0: Fixed)
0x00tt
RWwn + 3
Specified speed
0xssss
RWwn + 4
Point number
0xpppp
RWwn + 5
Not used
0x0000
to
RWwn + 9
RWwn + 10
Acceleration designation
RWwn + 11
Deceleration designation
RWwn + 12
Not used
0xrrrr
0xrrrr
0x0000
to
RWwn + 15
bb
Value
Meaning
tt
Meaning
Reference range
00
01
1 to 10000
10
Speed is specified in %.
1 to 100
11
Meaning
Acceleration is specified.
A-17
A
Remote command guide
RWwn
p, m
Value
Meaning
Deceleration is specified.
Value
Meaning
No output.
Output.
* The "pulse units" and "millimeter units" current position output designation flags cannot be designated at the
same time. Doing so will result in the "4.2 Input format error".
ssss
pppp
rrrr
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
RWrn + 2
RWrn + 3
RWrn + 4
Axis-1 data
0xbbbbbbbb
Axis-2 data
0xbbbbbbbb
Axis-3 data
0xbbbbbbbb
Axis-4 data
0xbbbbbbbb
Axis-5 data
0xbbbbbbbb
Axis-6 data
0xbbbbbbbb
RWrn + 5
RWrn + 6
RWrn + 7
RWrn + 8
RWrn + 9
RWrn + 10
RWrn + 11
RWrn + 12
RWrn + 13
RWrn + 14
RWrn + 15
bbbbbbbb
Abnormal end
Address
RWrn
Contents
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
A-18
Value
aaaa
bbbb
Example:
Specify the MOVE command with linear interpolation
as shown at right, when moving all axes of the Robot 1
to point number 100 at a speed of 200 mm/s and at
50% acceleration, and with the current position being
output in millimeters.
Address
Value
RWwn
0x0003
RWwn + 1
0x8026
0x0000
RWwn + 3
0x00C8
RWwn + 4
0x0064
RWwn + 5
0x0000
RWwn + 6
0x0000
RWwn + 7
0x0000
RWwn + 8
0x0000
RWwn + 9
0x0000
RWwn + 10
0x0032
RWwn + 11
0x0000
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Axis 1
= 12.345
Address
Value
Axis 2
= -0.123
RWrn
0x0200
Axis 3
= 5.000
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x3039
Axis 4
= 9.023
RWrn + 5
0x0000
RWrn + 6
0xFF85
RWrn + 7
0xFFFF
RWrn + 8
0x1388
RWrn + 9
0x0000
RWrn + 10
0x233F
RWrn + 11
0x0000
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
A-19
A
Remote command guide
RWwn + 2
Circular interpolation
This command moves the robot to a target position by circular interpolation by specifying two point numbers.
Command
Address
RWwn
RWwn + 1
Contents
Value
Command code
bit 11 bit 0
0xR004
Robot designation
bit 15 bit 12
Command flag
bit 0
(0: Fixed)
bit 2 bit 1
bb
bit 4 bit 3
(0: Fixed)
Robot number
0
bit 5
bit 6
bit 13 bit 7
(0: Fixed)
bit 14
bit 15
RWwn + 2
Not used
RWwn + 3
Specified speed
0x0000
0xssss
RWwn + 4
0xpppp
RWwn + 5
0xpppp
RWwn + 6
Not used
0x0000
to
RWwn + 9
RWwn + 10
Acceleration designation
RWwn + 11
Deceleration designation
RWwn + 12
Not used
0xrrrr
0xrrrr
0x0000
to
RWwn + 15
bb
p, m
Value
Meaning
Reference range
00
1 to 10000
01
10
Speed is specified in %.
1 to 100
11
Meaning
Acceleration is specified.
Meaning
Deceleration is specified.
Meaning
No output.
Output.
* The "pulse units" and "millimeter units" current position output designation flags cannot be designated at the
same time. Doing so will result in the "4.2 Input format error".
A-20
ssss
pppp
rrrr
Status
Normal end
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
RWrn + 2
RWrn + 3
RWrn + 4
Axis-1 data
0xbbbbbbbb
Axis-2 data
0xbbbbbbbb
Axis-3 data
0xbbbbbbbb
Axis-4 data
0xbbbbbbbb
Axis-5 data
0xbbbbbbbb
Axis-6 data
0xbbbbbbbb
RWrn + 5
RWrn + 6
RWrn + 7
RWrn + 8
RWrn + 9
RWrn + 10
RWrn + 11
RWrn + 12
RWrn + 13
RWrn + 14
RWrn + 15
bbbbbbbb
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
A-21
Address
Example:
Address
Value
RWwn
0x0004
RWwn + 1
0x8044
RWwn + 2
0x0000
RWwn + 3
0x0014
RWwn + 4
0x0064
RWwn + 5
0x0065
RWwn + 6
0x0000
RWwn + 7
0x0000
RWwn + 8
0x0000
RWwn + 9
0x0000
RWwn + 10
0x0000
RWwn + 11
0x0032
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x3039
RWrn + 5
0x0000
RWrn + 6
0xFF85
RWrn + 7
0xFFFF
RWrn + 8
0x1388
RWrn + 9
0x0000
RWrn + 10
0x233F
RWrn + 11
0x0000
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
Axis 1
= 12.345
Axis 2
= -0.123
Axis 3
= 5.000
Axis 4
= 9.023
A-22
Command
Address
RWwn
RWwn + 2
Value
bit 11 bit 0
Robot designation
bit 15 bit 12
Robot number
Command flag
bit 0
bit 2 bit 1
bb
bit 4 bit 3
Hand system
cc
bit 8 bit 5
xr
bit 12 bit 9
yr
bit 13
(0: Fixed)
bit 14
bit 15
0xR006
bit 0
Axis 1
bit 1
Axis 2
bit 2
Axis 3
bit 3
Axis 4
bit 4
Axis 5
bit 5
Axis 6
bit 15 bit 6
(0: Fixed)
0x00tt
RWwn + 3
Specified speed
RWwn + 4
Axis-1 data
0xpppppppp
0xssss
Axis-2 data
0xpppppppp
Axis-3 data
0xpppppppp
Axis-4 data
0xpppppppp
Axis-5 data
0xpppppppp
Axis-6 data
0xpppppppp
RWwn + 5
RWwn + 6
RWwn + 7
RWwn + 8
RWwn + 9
RWwn + 10
RWwn + 11
RWwn + 12
RWwn + 13
RWwn + 14
RWwn + 15
bb
cc
Meaning
Meaning
00
Reference range
-
01
1 to 10000
10
Speed is specified in %.
1 to 100
Meaning
01
10
Other
A-23
A
Remote command guide
RWwn + 1
Contents
Command code
xr / yr
: Shows the number 1 and number 2 arm rotation information defined by 4 bits. (* 1)
These items are available only on YK500TW model SCARA robots.
On all other robots, any setting value for these setting items will be processed as "0".
Value
p, m
Meaning
0001
1111
Other
Meaning
No output.
Output.
* The "pulse units" and "millimeter units" current position output designation flags cannot be designated at the
same time. Doing so will result in the "4.2 Input format error".
tt
ssss
pppppppp
: Specify the target position data for each axis in 32 bits. (little endian)
Data should be integers (x1000) in millimeter units.
CAUTION
Even if movement is specified only for Axis 4 on a SCARA robot, the 1 and 2 axes also move simultaneously to
the target position.
(*1) For details, refer to the "Point Data Display / Editing" section of the "Operators Manual for YAMAHAs RCX340
4-axis robot controller".
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
RWrn + 2
RWrn + 3
RWrn + 4
Axis-1 data
0xbbbbbbbb
Axis-2 data
0xbbbbbbbb
Axis-3 data
0xbbbbbbbb
Axis-4 data
0xbbbbbbbb
Axis-5 data
0xbbbbbbbb
Axis-6 data
0xbbbbbbbb
RWrn + 5
RWrn + 6
RWrn + 7
RWrn + 8
RWrn + 9
RWrn + 10
RWrn + 11
RWrn + 12
RWrn + 13
RWrn + 14
RWrn + 15
bbbbbbbb
A-24
Abnormal end
Address
Contents
RWrn
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
aaaa
bbbb
Example:
Specify the MOVE command with direct PTP
designation (millimeter units) as shown at right, when
moving all axes of the Robot 1 to the following points
at 50% speed, and with the current position being
output in millimeters.
Axis 1
= 10.000
Axis 2
= -20.000
Axis 3
= 5.000
Axis 4
= -18.000
Address
Value
RWwn
0x0006
RWwn + 1
0x8004
RWwn + 2
0x0000
RWwn + 3
0x0032
RWwn + 4
0x2710
RWwn + 5
0x0000
RWwn + 6
0xB1E0
RWwn + 7
0xFFFF
RWwn + 8
0x1388
RWwn + 9
0x0000
RWwn + 10
0xB9B0
RWwn + 11
0xFFFF
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x2710
RWrn + 5
0x0000
RWrn + 6
0xB1E0
RWrn + 7
0xFFFF
RWrn + 8
0x1388
RWrn + 9
0x0000
RWrn + 10
0xB9B0
RWrn + 11
0xFFFF
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
A-25
RWrn + 15
Command
Address
RWwn
RWwn + 1
RWwn + 2
Contents
Value
Command code
bit 11 bit 0
Robot designation
bit 15 bit 12
Command flag
bit 0
bit 2 bit 1
bb
bit 13 bit 3
(0: Fixed)
bit 14
bit 15
bit 0
Axis 1
bit 1
Axis 2
bit 2
Axis 3
bit 3
Axis 4
bit 4
Axis 5
bit 5
Axis 6
bit 15 bit 6
(0: Fixed)
0xR007
Robot number
a
0x00tt
RWwn + 3
Specified speed
RWwn + 4
Axis-1 data
0xpppppppp
0xssss
Axis-2 data
0xpppppppp
Axis-3 data
0xpppppppp
Axis-4 data
0xpppppppp
Axis-5 data
0xpppppppp
Axis-6 data
0xpppppppp
RWwn + 5
RWwn + 6
RWwn + 7
RWwn + 8
RWwn + 9
RWwn + 10
RWwn + 11
RWwn + 12
RWwn + 13
RWwn + 14
RWwn + 15
bb
Value
Meaning
p, m
Meaning
Reference range
00
01
1 to 10000
10
Speed is specified in %.
1 to 100
Meaning
No output.
Output.
* The "pulse units" and "millimeter units" current position output designation flags cannot be designated at the
same time. Doing so will result in the "4.2 Input format error".
A-26
tt
ssss
pppppppp
: Specify the target position data for each axis in 32 bits. (little endian)
Data should be integers in pulse units.
Status
Normal end
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
RWrn + 2
RWrn + 3
RWrn + 4
Axis-1 data
0xbbbbbbbb
Axis-2 data
0xbbbbbbbb
Axis-3 data
0xbbbbbbbb
Axis-4 data
0xbbbbbbbb
Axis-5 data
0xbbbbbbbb
Axis-6 data
0xbbbbbbbb
RWrn + 5
RWrn + 6
RWrn + 7
RWrn + 8
RWrn + 9
RWrn + 10
RWrn + 11
RWrn + 12
RWrn + 13
RWrn + 14
RWrn + 15
bbbbbbbb
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
A-27
Address
Example:
Address
Value
RWwn
0x0007
RWwn + 1
0x4004
RWwn + 2
0x0000
RWwn + 3
0x0032
RWwn + 4
0x86A0
Axis 1
= 100000
RWwn + 5
0x0001
Axis 2
= -200000
RWwn + 6
0xF2C0
Axis 3
= 50000
RWwn + 7
0xFFFC
RWwn + 8
0xC350
RWwn + 9
0x0000
Axis 4
= -180000
Other axes
=0
A-28
RWwn + 10
0x40E0
RWwn + 11
0xFFFD
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x86A0
RWrn + 5
0x0001
RWrn + 6
0xF2C0
RWrn + 7
0xFFFC
RWrn + 8
0xC350
RWrn + 9
0x0000
RWrn + 10
0x40E0
RWrn + 11
0xFFFD
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
444444
MOVEI command
PTP designation
This command moves the robot a specified distance in PTP motion by specifying the point number.
Command
Address
Contents
Value
RWwn
Command code
Robot designation
bit 15 bit 12
Robot number
RWwn + 1
Command flag
bit 0
RWwn + 2
bit 11 bit 0
0xR009
a
bit 2 bit 1
bit 14 bit 3
(0: Fixed)
bb
0
bit 5
bit 6
bit 13 bit 7
(0: Fixed)
bit 14
bit 15
bit 0
Axis 1
bit 1
Axis 2
bit 2
Axis 3
bit 3
Axis 4
bit 4
Axis 5
bit 5
Axis 6
bit 15 bit 6
(0: Fixed)
0x00tt
RWwn + 3
Specified speed
0xssss
RWwn + 4
Point number
0xpppp
RWwn + 5
Not used
0x0000
to
RWwn + 9
RWwn + 10
Acceleration designation
0xrrrr
RWwn + 11
Deceleration designation
0xrrrr
RWwn + 12
Not used
0x0000
to
RWwn + 15
bb
Value
Meaning
Meaning
00
Reference range
-
01
1 to 10000
10
Speed is specified in %.
1 to 100
A-29
NOTE
If the MOVEI command is interrupted and then re-executed, the resumed motion that occurs either to the
original target position or to a new target position referenced to the current position can be selected by the
"MOVEI/DRIVEI start position" setting of controller parameters.
The other parameters default "MOVEI/DRIVEI start position" setting is Keep (motion to the original target position
when MOVEI is interrupted and then re-executed).
Value
Meaning
Acceleration is specified.
p, m
Value
Meaning
Deceleration is specified.
Meaning
No output.
Output.
* The "pulse units" and "millimeter units" current position output designation flags cannot be designated at the
same time. Doing so will result in the "4.2 Input format error".
tt
ssss
pppp
rrrr
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
RWrn + 2
RWrn + 3
RWrn + 4
Axis-1 data
0xbbbbbbbb
Axis-2 data
0xbbbbbbbb
Axis-3 data
0xbbbbbbbb
Axis-4 data
0xbbbbbbbb
Axis-5 data
0xbbbbbbbb
Axis-6 data
0xbbbbbbbb
RWrn + 5
RWrn + 6
RWrn + 7
RWrn + 8
RWrn + 9
RWrn + 10
RWrn + 11
RWrn + 12
RWrn + 13
RWrn + 14
RWrn + 15
bbbbbbbb
Abnormal end
Address
RWrn
Contents
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
A-30
Value
Status code
aaaa
bbbb
Example:
Specify the MOVEI command with PTP designation as
shown at right, when moving all axes of the Robot 1 a
distance specified by point number 100 at 50% speed,
and with the current position being output in pulses.
Axis 2
= 123456
= -123
Other axes = 0
Values are expressed as shown at right.
Value
RWwn
0x0009
RWwn + 1
0x4004
RWwn + 2
0x0000
RWwn + 3
0x0032
RWwn + 4
0x0064
RWwn + 5
0x0000
RWwn + 6
0x0000
RWwn + 7
0x0000
RWwn + 8
0x0000
RWwn + 9
0x0000
RWwn + 10
0x0000
RWwn + 11
0x0000
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0xE240
RWrn + 5
0x0001
RWrn + 6
0xFF85
RWrn + 7
0xFFFF
RWrn + 8
0x0000
RWrn + 9
0x0000
RWrn + 10
0x0000
RWrn + 11
0x0000
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
A-31
A
Remote command guide
Axis 1
Address
Linear interpolation
This command moves the robot a specified distance in linear interpolation motion by specifying the point
number.
NOTE
If the MOVEI command is interrupted and then re-executed, the resumed motion that occurs either to the
original target position or to a new target position referenced to the current position can be selected by the
"MOVEI/DRIVEI start position" setting of controller parameters.
The other parameters default "MOVEI/DRIVEI start position" setting is Keep (motion to the original target position
when MOVEI is interrupted and then re-executed).
Command
Address
RWwn
RWwn + 1
RWwn + 2
Contents
Value
Command code
bit 11 bit 0
Robot designation
bit 15 bit 12
Command flag
bit 0
bit 2 bit 1
0xR00A
Robot number
a
bb
bit 4 bit 3
(0: Fixed)
bit 5
bit 6
bit 13 bit 7
(0: Fixed)
bit 14
bit 15
bit 0
Axis 1
bit 1
Axis 2
bit 2
Axis 3
bit 3
Axis 4
bit 4
Axis 5
bit 5
Axis 6
bit 15 bit 6
(0: Fixed)
0x00tt
RWwn + 3
Specified speed
0xssss
RWwn + 4
Point number
0xpppp
RWwn + 5
Not used
0x0000
to
RWwn + 9
RWwn + 10
Acceleration designation
RWwn + 11
Deceleration designation
RWwn + 12
Not used
0xrrrr
0xrrrr
0x0000
to
RWwn + 15
bb
A-32
Meaning
Meaning
00
Reference range
-
01
1 to 10000
10
Speed is specified in %.
1 to 100
11
Meaning
Acceleration is specified.
tt
Deceleration is specified.
Meaning
No output.
Output.
* The "pulse units" and "millimeter units" current position output designation flags cannot be designated at the
same time. Doing so will result in the "4.2 Input format error".
tt
uu
: Specify the arch motion axis in bit pattern using upper 8 bits.
Specified arch axis is one axis only.
ssss
pppp
rrrr
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
RWrn + 2
RWrn + 3
RWrn + 4
Axis-1 data
0xbbbbbbbb
Axis-2 data
0xbbbbbbbb
Axis-3 data
0xbbbbbbbb
Axis-4 data
0xbbbbbbbb
Axis-5 data
0xbbbbbbbb
Axis-6 data
0xbbbbbbbb
RWrn + 5
RWrn + 6
RWrn + 7
RWrn + 8
RWrn + 9
RWrn + 10
RWrn + 11
RWrn + 12
RWrn + 13
RWrn + 14
RWrn + 15
bbbbbbbb
A-33
p, m
Value
Abnormal end
Address
Contents
Value
Status code
0x4000
m+2
0xaaaa
m+4
0xbbbb
Not used
0x0000
RWrn + 3
to
RWrn + 15
aaaa
bbbb
Example:
Specify the MOVEI command with linear interpolation
as shown at right, when moving all axes of the Robot 1
the distance specified by point number 100 at a speed
of 200 mm/s and at 50% acceleration, and with the
current position being output in millimeters.
Address
Value
RWwn
0x000A
RWwn + 1
0x8026
RWwn + 2
0x0000
RWwn + 3
0x00C8
RWwn + 4
0x0064
RWwn + 5
0x0000
RWwn + 6
0x0000
RWwn + 7
0x0000
RWwn + 8
0x0000
RWwn + 19
0x0000
RWwn + 10
0x0032
RWwn + 11
0x0000
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Address
Value
Axis 1
= 12.345
Axis 2
= -0.123
RWrn
0x0200
Axis 3
= 5.000
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x3039
RWrn + 5
0x0000
Axis 4
= 9.023
A-34
RWrn + 6
0xFF85
RWrn + 7
0xFFFF
RWrn + 8
0x1388
RWrn + 9
0x0000
RWrn + 10
0x233F
RWrn + 11
0x0000
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
Command
Address
RWwn
RWwn + 1
RWwn + 2
Contents
Value
Command code
bit 11 bit 0
Robot designation
bit 15 bit 12
Robot number
Command flag
bit 0
bit 2 bit 1
bb
bit 4 bit 3
Hand system
cc
bit 8 bit 5
xr
bit 12 bit 9
yr
bit 13
(0: Fixed)
bit 14
bit 15
0xR00E
bit 0
Axis 1
bit 1
Axis 2
bit 2
Axis 3
bit 3
Axis 4
bit 4
Axis 5
bit 5
Axis 6
bit 15 bit 6
(0: Fixed)
0x00tt
RWwn + 3
Specified speed
RWwn + 4
Axis-1 data
0xpppppppp
0xssss
Axis-2 data
0xpppppppp
Axis-3 data
0xpppppppp
Axis-4 data
0xpppppppp
Axis-5 data
0xpppppppp
Axis-6 data
0xpppppppp
RWwn + 5
RWwn + 6
RWwn + 7
RWwn + 8
RWwn + 9
RWwn + 10
RWwn + 11
RWwn + 12
RWwn + 13
RWwn + 14
RWwn + 15
bb
Value
Meaning
Meaning
00
Reference range
-
01
1 to 10000
10
Speed is specified in %.
1 to 100
A-35
A
Remote command guide
NOTE
If the MOVEI command is interrupted and then re-executed, the resumed motion that occurs either to the
original target position or to a new target position referenced to the current position can be selected by the
"MOVEI/DRIVEI start position" setting of controller parameters.
The other parameters default "MOVEI/DRIVEI start position" setting is Keep (motion to the original target position
when MOVEI is interrupted and then re-executed).
cc
A
xr / yr
Value
Meaning
01
10
Other
: Shows the number 1 and number 2 arm rotation information defined by 4 bits. (* 1)
These items are available only on YK500TW model SCARA robots. On all other robots, any setting
value for these setting items will be processed as "0".
Value
p, m
Meaning
0001
1111
Other
Meaning
No output.
Output.
* The "pulse units" and "millimeter units" current position output designation flags cannot be designated at the
same time. Doing so will result in the "4.2 Input format error".
tt
ssss
pppppppp
: Specify the target movement distance data for each axis in 32 bits. (little endian)
Data should be integers (x1000) in millimeter units.
CAUTION
(*1) For details, refer to the "Point Data Display / Editing" section of the "Operators Manual for YAMAHAs RCX340
4-axis robot controller".
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
RWrn + 2
RWrn + 3
RWrn + 4
Axis-1 data
0xbbbbbbbb
Axis-2 data
0xbbbbbbbb
Axis-3 data
0xbbbbbbbb
Axis-4 data
0xbbbbbbbb
Axis-5 data
0xbbbbbbbb
Axis-6 data
0xbbbbbbbb
RWrn + 5
RWrn + 6
RWrn + 7
RWrn + 8
RWrn + 9
RWrn + 10
RWrn + 11
RWrn + 12
RWrn + 13
RWrn + 14
RWrn + 15
bbbbbbbb
A-36
Abnormal end
Address
Contents
RWrn
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
aaaa
bbbb
Example:
Specify the MOVEI command with direct PTP
designation (millimeter units) as shown at right, when
moving all axes of the Robot 1 a distance specified by
the following points from "0.000" mm positions at 50%
speed, and with the current position being output in
millimeters.
Address
Value
RWwn
0x000E
RWwn + 1
0x8004
RWwn + 2
0x0000
RWwn + 3
0x0032
RWwn + 4
0x2710
= 10.000
RWwn + 5
0x0000
Axis 2
= -20.000
RWwn + 6
0xB1E0
Axis 3
= 5.000
RWwn + 7
0xFFFF
Axis 4
= -18.000
RWwn + 8
0x1388
Axis 1
RWwn + 9
0x0000
RWwn + 10
0xB9B0
RWwn + 11
0xFFFF
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Address
Value
Axis 1
= 12.345
Axis 2
= -0.123
RWrn
0x0200
Axis 3
= 5.000
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x2710
RWrn + 5
0x0000
RWrn + 6
0xB1E0
RWrn + 7
0xFFFF
RWrn + 8
0x1388
Axis 4
= 9.023
RWrn + 9
0x0000
RWrn + 10
0xB9B0
RWrn + 11
0xFFFF
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
A-37
RWrn + 15
NOTE
If the MOVEI command is interrupted and then re-executed, the resumed motion that occurs either to the
original target position or to a new target position referenced to the current position can be selected by the
"MOVEI/DRIVEI start position" setting of controller parameters.
The other parameters default "MOVEI/DRIVEI start position" setting is Keep (motion to the original target position
when MOVEI is interrupted and then re-executed).
Command
Address
Contents
Value
RWwn
Command code
Robot designation
bit 15 bit 12
Robot number
RWwn + 1
Command flag
bit 0
bit 2 bit 1
RWwn + 2
bit 11 bit 0
0xR00F
a
bb
bit 13 bit 3
(0: Fixed)
bit 14
bit 15
bit 0
Axis 1
bit 1
Axis 2
bit 2
Axis 3
bit 3
Axis 4
bit 4
Axis 5
bit 5
Axis 6
bit 15 bit 6
(0: Fixed)
0x00tt
RWwn + 3
Specified speed
RWwn + 4
Axis-1 data
0xpppppppp
0xssss
Axis-2 data
0xpppppppp
Axis-3 data
0xpppppppp
Axis-4 data
0xpppppppp
Axis-5 data
0xpppppppp
Axis-6 data
0xpppppppp
RWwn + 5
RWwn + 6
RWwn + 7
RWwn + 8
RWwn + 19
RWwn + 10
RWwn + 11
RWwn + 12
RWwn + 13
RWwn + 14
RWwn + 15
bb
A-38
Meaning
Meaning
00
Reference range
-
01
1 to 10000
10
Speed is specified in %.
1 to 100
p, m
Meaning
No output.
Output.
* The "pulse units" and "millimeter units" current position output designation flags cannot be designated at the
same time. Doing so will result in the "4.2 Input format error".
: Specify the axis to move in bit pattern using lower 8 bits.
Valid when axis designation flag is 1.
ssss
pppppppp
: Specify the target movement distance data for each axis in 32 bits. (little endian)
Data should be integers in pulse units.
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
RWrn + 2
RWrn + 3
RWrn + 4
Axis-1 data
0xbbbbbbbb
Axis-2 data
0xbbbbbbbb
Axis-3 data
0xbbbbbbbb
Axis-4 data
0xbbbbbbbb
Axis-5 data
0xbbbbbbbb
Axis-6 data
0xbbbbbbbb
RWrn + 5
RWrn + 6
RWrn + 7
RWrn + 8
RWrn + 9
RWrn + 10
RWrn + 11
RWrn + 12
RWrn + 13
RWrn + 14
RWrn + 15
bbbbbbbb
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
A-39
tt
Example:
Address
Value
RWwn
0x000F
RWwn + 1
0x4004
RWwn + 2
0x0000
RWwn + 3
0x0032
RWwn + 4
0x86A0
Axis 1
= 100000
RWwn + 5
0x0001
Axis 2
= -200000
RWwn + 6
0xF2C0
Axis 3
= 50000
RWwn + 7
0xFFFC
RWwn + 8
0xC350
RWwn + 9
0x0000
Axis 4
= -180000
Other axes = 0
A-40
RWwn + 10
0x40E0
RWwn + 11
0xFFFD
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x86A0
RWrn + 5
0x0001
RWrn + 6
0xF2C0
RWrn + 7
0xFFFC
RWrn + 8
0xC350
RWrn + 9
0x0000
RWrn + 10
0x40E0
RWrn + 11
0xFFFD
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
444444
DRIVE command
Execute this command group to move the specified axis of the robot to an absolute position. Valid only for a
single axis.
Point designation
This command moves the specified axis of the robot to a target position in PTP motion by specifying the point
number.
Address
RWwn
RWwn + 1
RWwn + 2
Contents
Command code
bit 11 bit 0
Robot designation
bit 15 bit 12
Command flag
Value
0xR010
Robot number
bit 0
(1:Fixed)
bit 2 bit 1
1
bb
bit 13 bit 3
(0: Fixed)
bit 14
bit 15
bit 0
Axis 1
bit 1
Axis 2
bit 2
Axis 3
bit 3
Axis 4
bit 4
Axis 5
bit 5
Axis 6
bit 15 bit 6
(0: Fixed)
0x00tt
RWwn + 3
Specified speed
0xssss
RWwn + 4
Point number
0xpppp
RWwn + 5
Not used
0x0000
to
RWwn + 15
bb
p, m
Meaning
Reference range
00
01
1 to 10000
10
Speed is specified in %.
1 to 100
Meaning
No output.
Output.
* The "pulse units" and "millimeter units" current position output designation flags cannot be designated at the
same time. Doing so will result in the "4.2 Input format error".
tt
ssss
pppp
A-41
Command
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
RWrn + 2
RWrn + 3
RWrn + 4
Axis-1 data
0xbbbbbbbb
Axis-2 data
0xbbbbbbbb
Axis-3 data
0xbbbbbbbb
Axis-4 data
0xbbbbbbbb
Axis-5 data
0xbbbbbbbb
Axis-6 data
0xbbbbbbbb
RWrn + 5
RWrn + 6
RWrn + 7
RWrn + 8
RWrn + 9
RWrn + 10
RWrn + 11
RWrn + 12
RWrn + 13
RWrn + 14
RWrn + 15
bbbbbbbb
Abnormal end
Address
RWrn
Contents
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
A-42
Value
Status code
aaaa
bbbb
Example:
Specify the DRIVE command with point designation as
shown at right, to move axis 3 of the Robot 1 to point
number 100 at 50% speed and with the current
position being output in pulses units.
= 123456
Axis 2
= -123
Other axes = 0
Values are expressed as shown at right.
Value
RWwn
0x0010
RWwn + 1
0x4005
RWwn + 2
0x0004
RWwn + 3
0x0032
RWwn + 4
0x0064
RWwn + 5
0x0000
RWwn + 6
0x0000
RWwn + 7
0x0000
RWwn + 8
0x0000
RWwn + 9
0x0000
RWwn + 10
0x0000
RWwn + 11
0x0000
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0xE240
RWrn + 5
0x0001
RWrn + 6
0xFF85
RWrn + 7
0xFFFF
RWrn + 8
0x0000
RWrn + 9
0x0000
RWrn + 10
0x0000
RWrn + 11
0x0000
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
A-43
A
Remote command guide
Axis 1
Address
This command moves the specified axis of the robot to a target position in PTP motion by directly specifying
the data in millimeters.
Command
Address
RWwn
RWwn + 1
RWwn + 2
Contents
Value
Command code
bit 11 bit 0
Robot designation
bit 15 bit 12
Command flag
bit 0
(1: Fixed)
bit 2 bit 1
bb
bit 13 bit 3
(0: Fixed)
bit 14
bit 15
bit 0
Axis 1
bit 1
Axis 2
bit 2
Axis 3
bit 3
Axis 4
bit 4
Axis 5
bit 5
Axis 6
bit 15 bit 6
(0: Fixed)
0xR012
Robot number
1
0x00tt
RWwn + 3
Specified speed
0xssss
RWwn + 4
Movement data
0xpppppppp
RWwn + 5
RWwn + 6
Not used
0x0000
to
RWwn + 15
bb
p, m
Value
Meaning
00
Reference range
-
01
1 to 10000
10
Speed is specified in %.
1 to 100
Meaning
No output.
Output.
* The "pulse units" and "millimeter units" current position output designation flags cannot be designated at the
same time. Doing so will result in the "4.2 Input format error".
A-44
tt
ssss
pppppppp
: Specify target position data for specified axis in 32 bits. (little endian)
Data should be integers (x 1000) in millimeter units.
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
RWrn + 2
RWrn + 3
Axis-1 data
0xbbbbbbbb
RWrn + 6
Axis-2 data
0xbbbbbbbb
Axis-3 data
0xbbbbbbbb
Axis-4 data
0xbbbbbbbb
Axis-5 data
0xbbbbbbbb
Axis-6 data
0xbbbbbbbb
RWrn + 7
RWrn + 8
RWrn + 9
RWrn + 10
RWrn + 11
RWrn + 12
RWrn + 13
RWrn + 14
RWrn + 15
bbbbbbbb
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
A-45
RWrn + 4
RWrn + 5
Example:
Axis 1
Address
Value
RWwn
0x0012
RWwn + 1
0x8005
RWwn + 2
0x0004
RWwn + 3
0x0032
RWwn + 4
0x1388
RWwn + 5
0x0000
RWwn + 6
0x0000
RWwn + 7
0x0000
RWwn + 8
0x0000
RWwn + 9
0x0000
RWwn + 10
0x0000
RWwn + 11
0x0000
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
= 10.000
Address
Value
Axis 2
= -20.000
RWrn
0x0200
Axis 3
= 5.000
RWrn + 1
0x0000
Axis 4
= -18.000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x2710
A-46
RWrn + 5
0x0000
RWrn + 6
0xB1E0
RWrn + 7
0xFFFF
RWrn + 8
0x1388
RWrn + 9
0x0000
RWrn + 10
0xB9B0
RWrn + 11
0xFFFF
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
Command
Address
RWwn
RWwn + 2
Command code
bit 11 bit 0
Robot designation
bit 15 bit 12
Command flag
Value
0xR013
Robot number
bit 0
(1: Fixed)
bit 2 bit 1
bb
bit 13 bit 3
(0: Fixed)
bit 14
bit 15
bit 0
Axis 1
bit 1
Axis 2
bit 2
Axis 3
bit 3
Axis 4
bit 4
Axis 5
bit 5
Axis 6
bit 15 bit 6
(0: Fixed)
0x00tt
RWwn + 3
Specified speed
0xssss
RWwn + 4
Movement data
0xpppppppp
RWwn + 5
RWwn + 6
Not used
0x0000
to
RWwn + 15
bb
p, m
Value
Meaning
00
01
1 to 10000
10
Speed is specified in %.
1 to 100
Reference range
Meaning
No output.
Output.
* The "pulse units" and "millimeter units" current position output designation flags cannot be designated at the
same time. Doing so will result in the "4.2 Input format error".
tt
ssss
pppppppp
: Specify the target position data for specified axis in 32 bits. (little endian)
Data should be integers in pulse units.
A-47
RWwn + 1
Contents
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
RWrn + 2
RWrn + 3
RWrn + 4
Axis-1 data
0xbbbbbbbb
Axis-2 data
0xbbbbbbbb
Axis-3 data
0xbbbbbbbb
Axis-4 data
0xbbbbbbbb
Axis-5 data
0xbbbbbbbb
Axis-6 data
0xbbbbbbbb
RWrn + 5
RWrn + 6
RWrn + 7
RWrn + 8
RWrn + 9
RWrn + 10
RWrn + 11
RWrn + 12
RWrn + 13
RWrn + 14
RWrn + 15
bbbbbbbb
Abnormal end
Address
RWrn
Contents
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
A-48
Value
Status code
aaaa
bbbb
Example:
Specify the DRIVE command with direct designation
(pulse units) as shown at right, to move axis 3 of the
Robot 1 to a position of "5000" pulses at 50% speed,
and with the current position being output in pulses.
= 10000
Axis 2
= -20000
Axis 3
= 5000
Axis 4
= -18000
Value
RWwn
0x0013
RWwn + 1
0x4005
RWwn + 2
0x0004
RWwn + 3
0x0032
RWwn + 4
0x1388
RWwn + 5
0x0000
RWwn + 6
0x0000
RWwn + 7
0x0000
RWwn + 8
0x0000
RWwn + 9
0x0000
RWwn + 10
0x0000
RWwn + 11
0x0000
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
Other axes = 0
RWrn + 4
0x2710
RWrn + 5
0x0000
RWrn + 6
0xB1E0
RWrn + 7
0xFFFF
RWrn + 8
0x1388
RWrn + 9
0x0000
RWrn + 10
0xB9B0
RWrn + 11
0xFFFF
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
A-49
A
Remote command guide
Axis 1
Address
444444
DRIVEI command
Execute this command group to move the specified axis of the robot to a relative position. Valid only for a
single axis.
Point designation
This command moves the specified axis of the robot in PTP motion a distance by specifying the point number.
NOTE
If the DRIVEI command is interrupted and then re-executed, the resumed motion that occurs either to the
original target position or to a new target position referenced to the current position can be selected by the
"MOVEI/DRIVEI start position" setting of controller parameters.
The other parameters default "MOVEI/DRIVEI start position" setting is Keep (motion to the original target position
when DRIVEI is interrupted and then re-executed).
Command
Address
Contents
Value
RWwn
Command code
Robot designation
bit 15 bit 12
Robot number
RWwn + 1
Command flag
bit 0
(1: Fixed)
RWwn + 2
bit 11 bit 0
0xR014
bit 2 bit 1
bb
bit 13 bit 3
(0: Fixed)
bit 14
bit 15
bit 0
Axis 1
bit 1
Axis 2
bit 2
Axis 3
bit 3
Axis 4
bit 4
Axis 5
bit 5
Axis 6
bit 15 bit 6
(0: Fixed)
0x00tt
RWwn + 3
Specified speed
0xssss
RWwn + 4
Point number
0xpppp
RWwn + 5
Not used
0x0000
to
RWwn + 15
bb
p, m
Value
Meaning
00
Reference range
-
01
1 to 10000
10
Speed is specified in %.
1 to 100
Meaning
No output.
Output.
* The "pulse units" and "millimeter units" current position output designation flags cannot be designated at the
same time. Doing so will result in the "4.2 Input format error".
A-50
tt
ssss
pppp
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
RWrn + 2
RWrn + 3
Axis-1 data
0xbbbbbbbb
RWrn + 6
Axis-2 data
0xbbbbbbbb
Axis-3 data
0xbbbbbbbb
Axis-4 data
0xbbbbbbbb
Axis-5 data
0xbbbbbbbb
Axis-6 data
0xbbbbbbbb
RWrn + 7
RWrn + 8
RWrn + 9
RWrn + 10
RWrn + 11
RWrn + 12
RWrn + 13
RWrn + 14
RWrn + 15
bbbbbbbb
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
A-51
RWrn + 4
RWrn + 5
Example:
Axis 1
= 123456
Axis 2
= -123
Other axes
=0
A-52
Address
Value
RWwn
0x0014
RWwn + 1
0x4005
RWwn + 2
0x0004
RWwn + 3
0x0032
RWwn + 4
0x0064
RWwn + 5
0x0000
RWwn + 6
0x0000
RWwn + 7
0x0000
RWwn + 8
0x0000
RWwn + 9
0x0000
RWwn + 10
0x0000
RWwn + 11
0x0000
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0xE240
RWrn + 5
0x0001
RWrn + 6
0xFF85
RWrn + 7
0xFFFF
RWrn + 8
0x0000
RWrn + 9
0x0000
RWrn + 10
0x0000
RWrn + 11
0x0000
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
Command
Address
Contents
Value
RWwn
Command code
Robot designation
bit 15 bit 12
Robot number
RWwn + 1
Command flag
bit 0
(1: Fixed)
bit 2 bit 1
RWwn + 2
bit 11 bit 0
0xR016
1
bb
bit 13 bit 3
(0: Fixed)
bit 14
bit 15
bit 0
Axis 1
bit 1
Axis 2
bit 2
Axis 3
bit 3
Axis 4
bit 4
Axis 5
bit 5
Axis 6
bit 15 bit 6
(0: Fixed)
0x00tt
RWwn + 3
Specified speed
0xssss
RWwn + 4
Movement data
0xpppppppp
RWwn + 5
RWwn + 6
Not used
0x0000
to
RWwn + 15
bb
p, m
Value
Meaning
00
Reference range
-
01
1 to 10000
10
Speed is specified in %.
1 to 100
Meaning
No output.
Output.
* The "pulse units" and "millimeter units" current position output designation flags cannot be designated at the
same time. Doing so will result in the "4.2 Input format error".
tt
ssss
pppppppp
: Specify the target movement distance data for specified axis in 32 bits. (little endian)
Data should be integers (x1000) in millimeter units.
A-53
A
Remote command guide
NOTE
If the DRIVEI command is interrupted and then re-executed, the resumed motion that occurs either to the
original target position or to a new target position referenced to the current position can be selected by the
"MOVEI/DRIVEI start position" setting of controller parameters.
The other parameters default "MOVEI/DRIVEI start position" setting is Keep (motion to the original target position
when DRIVEI is interrupted and then re-executed).
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
RWrn + 2
RWrn + 3
RWrn + 4
Axis-1 data
0xbbbbbbbb
Axis-2 data
0xbbbbbbbb
Axis-3 data
0xbbbbbbbb
Axis-4 data
0xbbbbbbbb
Axis-5 data
0xbbbbbbbb
Axis-6 data
0xbbbbbbbb
RWrn + 5
RWrn + 6
RWrn + 7
RWrn + 8
RWrn + 9
RWrn + 10
RWrn + 11
RWrn + 12
RWrn + 13
RWrn + 14
RWrn + 15
bbbbbbbb
Abnormal end
Address
RWrn
Contents
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
A-54
Value
Status code
aaaa
bbbb
Example:
Specify the DRIVEI command with direct designation
(millimeter units) as shown at right, to move axis 3 a
distance equal to "5.000"mm from "0.000" mm position
at 50% speed, and with the current position being
output in millimeters.
= 10.000
Axis 2
= -20.000
Axis 3
Axis 4
= 5.000
= -18.000
Value
RWwn
0x0016
RWwn + 1
0x8005
RWwn + 2
0x0004
RWwn + 3
0x0032
RWwn + 4
0x1388
RWwn + 5
0x0000
RWwn + 6
0x0000
RWwn + 7
0x0000
RWwn + 8
0x0000
RWwn + 9
0x0000
RWwn + 10
0x0000
RWwn + 11
0x0000
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x2710
RWrn + 5
0x0000
RWrn + 6
0xB1E0
RWrn + 7
0xFFFF
RWrn + 8
0x1388
RWrn + 9
0x0000
RWrn + 10
0xB9B0
RWrn + 11
0xFFFF
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
A-55
A
Remote command guide
Axis 1
Address
This command moves the specified axis of the robot in PTP motion a distance by directly specifying the data in
pulses.
NOTE
If the DRIVEI command is interrupted and then re-executed, the resumed motion that occurs either to the
original target position or to a new target position referenced to the current position can be selected by the
"MOVEI/DRIVEI start position" setting of other parameters. For details, refer to the controller user's manual.
The other parameters default "MOVEI/DRIVEI start position" setting is Keep (motion to the original target position
when DRIVEI is interrupted and then re-executed).
Command
Address
Contents
Value
RWwn
Command code
Robot designation
bit 15 bit 12
Robot number
RWwn + 1
Command flag
bit 0
(1: Fixed)
bit 2 bit 1
RWwn + 2
bit 11 bit 0
0xR017
1
bb
bit 13 bit 3
(0: Fixed)
bit 14
bit 15
bit 0
Axis 1
bit 1
Axis 2
bit 2
Axis 3
bit 3
Axis 4
bit 4
Axis 5
bit 5
Axis 6
bit 15 bit 6
(0: Fixed)
0x00tt
RWwn + 3
Specified speed
0xssss
RWwn + 4
Movement data
0xpppppppp
RWwn + 5
RWwn + 6
Not used
0x0000
to
RWwn + 15
bb
p, m
Value
Meaning
00
Reference range
-
01
1 to 10000
10
Speed is specified in %.
1 to 100
Meaning
No output.
Output.
* The "pulse units" and "millimeter units" current position output designation flags cannot be designated at the
same time. Doing so will result in the "4.2 Input format error".
A-56
tt
ssss
pppppppp
: Specify the target movement distance data for specified axis in 32 bits. (little endian)
Data should be integers in pulse units.
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
RWrn + 2
RWrn + 3
Axis-1 data
0xbbbbbbbb
RWrn + 6
Axis-2 data
0xbbbbbbbb
Axis-3 data
0xbbbbbbbb
Axis-4 data
0xbbbbbbbb
Axis-5 data
0xbbbbbbbb
Axis-6 data
0xbbbbbbbb
RWrn + 7
RWrn + 8
RWrn + 9
RWrn + 10
RWrn + 11
RWrn + 12
RWrn + 13
RWrn + 14
RWrn + 15
bbbbbbbb
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
A-57
RWrn + 4
RWrn + 5
Example:
Address
Value
RWwn
0x0017
RWwn + 1
0x4005
RWwn + 2
0x0004
RWwn + 3
0x0032
RWwn + 4
0x1388
RWwn + 5
0x0000
RWwn + 6
0x0000
RWwn + 7
0x0000
RWwn + 8
0x0000
RWwn + 9
0x0000
RWwn + 10
0x0000
RWwn + 11
0x0000
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
Other axes = 0
RWrn + 4
0x2710
RWrn + 5
0x0000
RWrn + 6
0xB1E0
RWrn + 7
0xFFFF
RWrn + 8
0x1388
Axis 1
= 10000
Axis 2
= -20000
Axis 3
= 5000
Axis 4
= -18000
A-58
RWrn + 9
0x0000
RWrn + 10
0xB9B0
RWrn + 11
0xFFFF
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
444444
Execute this command group to move the robot to work positions on a pallet.
PTP designation
This command moves the robot to a target position in PTP motion by specifying the pallet number and work
position number.
Command
RWwn
RWwn + 1
Contents
Command code
bit 11 bit 0
Robot designation
bit 15 bit 12
Command flag
Value
0xR018
Robot number
bit 0
(0: Fixed)
bit 2 bit 1
0
bb
bit 4 bit 3
(0: Fixed)
bit 5
bit 6
bit 13 bit 7
(0: Fixed)
bit 14
bit 15
RWwn + 2
Not used
RWwn + 3
Specified speed
0x0000
0xssss
RWwn + 4
Pallet number
0xpppp
RWwn + 5
RWwn + 6
Not used
0xwwww
0x0000
to
RWwn + 9
RWwn + 10
Acceleration designation
RWwn + 11
Deceleration designation
RWwn + 12
Not used
0xrrrr
0xrrrr
0x0000
to
RWwn + 15
bb
p, m
Value
Meaning
00
Reference range
-
01
1 to 10000
10
Speed is specified in %.
1 to 100
Meaning
Acceleration is specified.
Meaning
Deceleration is specified.
Meaning
No output.
Output.
* The "pulse units" and "millimeter units" current position output designation flags cannot be designated at the
same time. Doing so will result in the "4.2 Input format error".
A-59
Address
ssss
pppp
wwww
rrrr
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
RWrn + 2
RWrn + 3
RWrn + 4
Axis-1 data
0xbbbbbbbb
Axis-2 data
0xbbbbbbbb
Axis-3 data
0xbbbbbbbb
Axis-4 data
0xbbbbbbbb
Axis-5 data
0xbbbbbbbb
Axis-6 data
0xbbbbbbbb
RWrn + 5
RWrn + 6
RWrn + 7
RWrn + 8
RWrn + 9
RWrn + 10
RWrn + 11
RWrn + 12
RWrn + 13
RWrn + 14
RWrn + 15
bbbbbbbb
Abnormal end
Address
RWrn
Contents
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
A-60
Value
Status code
aaaa
bbbb
Example:
Specify the PMOVE command with PTP designation as
shown at right, when moving the Robot 1 to work
position number 21 on pallet number 1 at 70% speed,
and with the current position being output in
millimeters.
Value
RWwn
0x0018
RWwn + 1
0x8004
RWwn + 2
0x0000
RWwn + 3
0x0046
RWwn + 4
0x0001
RWwn + 5
0x0015
RWwn + 6
0x0000
RWwn + 7
0x0000
RWwn + 8
0x0000
RWwn + 9
0x0000
RWwn + 10
0x0000
RWwn + 11
0x0000
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Axis 1
= 12.345
Address
Value
Axis 2
= -0.123
RWrn
0x0200
Axis 3
= 2.000
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x3039
RWrn + 5
0x0000
RWrn + 6
0xFF85
RWrn + 7
0xFFFF
RWrn + 8
0x07D0
RWrn + 9
0x0000
RWrn + 10
0x0000
RWrn + 11
0x0000
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
A-61
A
Remote command guide
Address
Arch designation
This command moves the robot to a target position in arch motion by specifying the pallet number, work
position number, arch axis and arch data.
Command
Address
Contents
Value
RWwn
Command code
Robot designation
bit 15 bit 12
Robot number
RWwn + 1
Command flag
bit 0
(0: Fixed)
bit 2 bit 1
bb
bit 3
(0: Fixed)
RWwn + 2
bit 11 bit 0
0xR019
0
bit 4
bit 13 bit 5
(0: Fixed)
bit 14
bit 15
bit 7 bit 0
(0: Fixed)
bit 8
Axis 1
bit 9
Axis 2
bit 10
Axis 3
bit 11
Axis 4
bit 12
Axis 5
bit 13
Axis 6
bit 15 bit 14
(0: Fixed)
0xuu00
RWwn + 3
Specified speed
0xssss
RWwn + 4
Pallet number
0xpppp
RWwn + 5
RWwn + 6
Not used
0xwwww
0x0000
RWwn + 7
RWwn + 8
0xqqqqqqqq
0xqqqqqqqq
0xqqqqqqqq
RWwn + 9
RWwn + 10
RWwn + 11
RWwn + 12
RWwn + 13
RWwn + 14
Not used
0x0000
RWwn + 15
bb
p, m
Value
Meaning
00
Reference range
-
01
1 to 10000
10
Speed is specified in %.
1 to 100
Meaning
Pulse units
Millimeter units
Meaning
No output.
Output.
* The "pulse units" and "millimeter units" current position output designation flags cannot be designated at the
same time. Doing so will result in the "4.2 Input format error".
A-62
uu
: Specify the arch motion axis in bit pattern using upper 8 bits.
Specified arch axis is one axis only.
ssss
pppp
wwww
qqqqqqqq
: Specify the arch position data and the arch start or end position data in 32 bits. (little endian)
Data should be integers when units are in pulses.
Data should be integers (x1000) when units are in millimeters.
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
RWrn + 2
RWrn + 3
RWrn + 4
Axis-1 data
0xbbbbbbbb
Axis-2 data
0xbbbbbbbb
Axis-3 data
0xbbbbbbbb
Axis-4 data
0xbbbbbbbb
Axis-5 data
0xbbbbbbbb
Axis-6 data
0xbbbbbbbb
RWrn + 5
RWrn + 6
RWrn + 7
RWrn + 8
RWrn + 9
RWrn + 10
RWrn + 11
RWrn + 12
RWrn + 13
RWrn + 14
RWrn + 15
bbbbbbbb
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
A-63
Status
Example:
Axis 1
Address
Value
RWwn
0x0019
RWwn + 1
0x8014
RWwn + 2
0x0400
RWwn + 3
0x0046
RWwn + 4
0x000A
RWwn + 5
0x0020
RWwn + 6
0x0000
RWwn + 7
0x0000
RWwn + 8
0x03E8
RWwn + 9
0x0000
RWwn + 10
0x0000
RWwn + 11
0x0000
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
= 12.345
Address
Value
Axis 2
= -0.123
RWrn
0x0200
Axis 3
= 5.000
RWrn + 1
0x0000
Axis 4
= 9.023
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x3039
A-64
RWrn + 5
0x0000
RWrn + 6
0xFF85
RWrn + 7
0xFFFF
RWrn + 8
0x1388
RWrn + 9
0x0000
RWrn + 10
0x233F
RWrn + 11
0x0000
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
444444
Execute this command to move the robot in jog mode. It performs PTP movement in axis units.
The movement speed is determined by the manual movement speed.
Command
Address
RWwn
RWwn + 1
RWwn + 2
RWwn + 3
Contents
Command code
bit 11 bit 0
Robot designation
bit 15 bit 12
Command flag
Value
0xR020
Robot number
bit 13 bit 0
(0: Fixed)
bit 14
bit 15
m
tt
bit 0
Axis 1
bit 1
Axis 2
bit 2
Axis 3
bit 3
Axis 4
bit 4
Axis 5
bit 5
Axis 6
bit 6
(0: Fixed)
bit 7
Direction
bit 15 bit 8
(0: Fixed)
Not used
0
0x0000
to
RWwn + 15
p, m
Meaning
No output.
Output.
* The "pulse units" and "millimeter units" current position output designation flags cannot be designated at the
same time. Doing so will result in the "4.2 Input format error".
tt
Meaning
+ direction
direction
A-65
To stop the jog command, set the dedicated input of the stop signal (SI06) to OFF.
Abnormal end status (0x4000) appears as the status code and the alarm code indicates that the robot has
stopped by the stop input (RWrn + 1: 0x000C, RWrn + 2: 0x0190).
After confirming that movement has stopped, set the dedicated input of the interlock signal to ON.
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
RWrn + 2
RWrn + 3
RWrn + 4
Axis-1 data
0xbbbbbbbb
Axis-2 data
0xbbbbbbbb
Axis-3 data
0xbbbbbbbb
Axis-4 data
0xbbbbbbbb
Axis-5 data
0xbbbbbbbb
Axis-6 data
0xbbbbbbbb
RWrn + 5
RWrn + 6
RWrn + 7
RWrn + 8
RWrn + 9
RWrn + 10
RWrn + 11
RWrn + 12
RWrn + 13
RWrn + 14
RWrn + 15
bbbbbbbb
Contents
Value
Status code
0x4000
RWrn + 1
0x000C
RWrn + 2
0x0190
RWrn + 3
Not used
0x0000
RWrn + 4
Axis-1 data
0xbbbbbbbb
Axis-2 data
0xbbbbbbbb
Axis-3 data
0xbbbbbbbb
Axis-4 data
0xbbbbbbbb
Axis-5 data
0xbbbbbbbb
Axis-6 data
0xbbbbbbbb
RWrn + 5
RWrn + 6
RWrn + 7
RWrn + 8
RWrn + 9
RWrn + 10
RWrn + 11
RWrn + 12
RWrn + 13
RWrn + 14
RWrn + 15
bbbbbbbb
A-66
Contents
RWrn
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
aaaa
bbbb
Example:
Specify the pulse unit system jog command as shown
at right, to move axis 1 of the Robot 1 in the minus (-)
direction, and with the current position being output
in pulses.
Address
Value
RWwn
0x0020
RWwn + 1
0x4000
RWwn + 2
0x0081
RWwn + 3
0x0000
RWwn + 4
0x0000
RWwn + 5
0x0000
RWwn + 6
0x0000
RWwn + 7
0x0000
RWwn + 8
0x0000
RWwn + 9
0x0000
RWwn + 10
0x0000
RWwn + 11
0x0000
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Address
Value
RWrn
0x4000
RWrn + 1
0x000C
Axis 1
= 12345
RWrn + 2
0x0190
Axis 2
= -123
RWrn + 3
0x0000
= 2000
RWrn + 4
0x3039
RWrn + 5
0x0000
Axis 3
Other axes
=0
RWrn + 6
0xFF85
RWrn + 7
0xFFFF
RWrn + 8
0x07D0
RWrn + 9
0x0000
RWrn + 10
0x0000
RWrn + 11
0x0000
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
A-67
RWrn + 15
Execute this command to move the robot in jog mode. It performs linear interpolation movement of Cartesian
coordinates. The movement speed is determined by the manual movement speed.
To stop the jog command, set the dedicated input of the stop signal (SI06) to OFF.
Abnormal end status (0x4000) appears as the status code and the alarm code indicates that the robot has
stopped by the stop input (RWrn + 1: 0x000C, RWrn + 2: 0x0190).
After confirming that movement has stopped, set the dedicated input of the interlock signal to ON.
Command
Address
Contents
Value
RWwn
Command code
Robot designation
bit 15 bit 12
Robot number
RWwn + 1
Command flag
bit 13 bit 0
(0: Fixed)
bit 14
bit 15
m
tt
RWwn + 2
RWwn + 3
bit 11 bit 0
0xR021
bit 0
Axis 1
bit 1
Axis 2
bit 2
Axis 3
bit 3
Axis 4
bit 4
Axis 5
bit 5
Axis 6
bit 6
(0: Fixed)
bit 7
Direction
bit 15 bit 8
(0: Fixed)
Not used
0x0000
to
RWwn + 15
p, m
Meaning
No output.
Output.
* The "pulse units" and "millimeter units" current position output designation flags cannot be designated at the
same time. Doing so will result in the "4.2 Input format error".
A-68
tt
Meaning
+ direction
direction
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
RWrn + 2
RWrn + 3
Axis-1 data
0xbbbbbbbb
RWrn + 6
Axis-2 data
0xbbbbbbbb
Axis-3 data
0xbbbbbbbb
Axis-4 data
0xbbbbbbbb
Axis-5 data
0xbbbbbbbb
Axis-6 data
0xbbbbbbbb
RWrn + 7
RWrn + 8
RWrn + 9
RWrn + 10
RWrn + 11
RWrn + 12
RWrn + 13
RWrn + 14
RWrn + 15
bbbbbbbb
Contents
Value
Status code
0x4000
RWrn + 1
0x000C
RWrn + 2
0x0190
RWrn + 3
Not used
0x0000
RWrn + 4
Axis-1 data
0xbbbbbbbb
Axis-2 data
0xbbbbbbbb
Axis-3 data
0xbbbbbbbb
Axis-4 data
0xbbbbbbbb
Axis-5 data
0xbbbbbbbb
Axis-6 data
0xbbbbbbbb
RWrn + 5
RWrn + 6
RWrn + 7
RWrn + 8
RWrn + 9
RWrn + 10
RWrn + 11
RWrn + 12
RWrn + 13
RWrn + 14
RWrn + 15
bbbbbbbb
A-69
RWrn + 4
RWrn + 5
Contents
RWrn
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
Example:
Specify the Cartesian coordinate system jog movement
as shown at right, to move axis 1 of the Robot 1 in the
minus (-) direction, and with the current position being
output in millimeters.
Address
Value
RWwn
0x0021
RWwn + 1
0x8000
RWwn + 2
0x0081
RWwn + 3
0x0000
RWwn + 4
0x0000
RWwn + 5
0x0000
RWwn + 6
0x0000
RWwn + 7
0x0000
RWwn + 8
0x0000
RWwn + 9
0x0000
RWwn + 10
0x0000
RWwn + 11
0x0000
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Address
Value
RWrn
0x4000
RWrn + 1
0x000C
RWrn + 2
0x0190
Axis 1
= 12.345
Axis 2
= -0.123
RWrn + 3
0x0000
Axis 3
= 2.000
RWrn + 4
0x3039
= 0.000
RWrn + 5
0x0000
RWrn + 6
0xFF85
RWrn + 7
0xFFFF
RWrn + 8
0x07D0
RWrn + 9
0x0000
RWrn + 10
0x0000
RWrn + 11
0x0000
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
Other axes
A-70
Command
Address
Contents
Value
RWwn
Command code
Robot designation
bit 15 bit 12
Robot number
RWwn + 1
Command flag
bit 13 bit 0
(0: Fixed)
bit 14
bit 15
m
tt
RWwn + 2
RWwn + 3
bit 11 bit 0
0xR022
bit 0
Axis 1
bit 1
Axis 2
bit 2
Axis 3
bit 3
Axis 4
bit 4
Axis 5
bit 5
Axis 6
bit 6
(0: Fixed)
bit 7
Direction
bit 15 bit 8
(0: Fixed)
Not used
0x0000
to
RWwn + 15
p, m
Meaning
No output.
Output.
* The "pulse units" and "millimeter units" current position output designation flags cannot be designated at the
same time. Doing so will result in the "4.2 Input format error".
tt
Meaning
+ direction
direction
A-71
A
Remote command guide
To stop the jog command, set the dedicated input of the stop signal (SI06) to OFF.
Abnormal end status (0x4000) appears as the status code and the alarm code indicates that the robot has
stopped by the stop input (RWrn + 1: 0x000C, RWrn + 2: 0x0190).
After confirming that movement has stopped, set the dedicated input of the interlock signal to ON.
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
RWrn + 2
RWrn + 3
RWrn + 4
Axis-1 data
0xbbbbbbbb
Axis-2 data
0xbbbbbbbb
Axis-3 data
0xbbbbbbbb
Axis-4 data
0xbbbbbbbb
Axis-5 data
0xbbbbbbbb
Axis-6 data
0xbbbbbbbb
RWrn + 5
RWrn + 6
RWrn + 7
RWrn + 8
RWrn + 9
RWrn + 10
RWrn + 11
RWrn + 12
RWrn + 13
RWrn + 14
RWrn + 15
bbbbbbbb
Contents
Value
Status code
0x4000
RWrn + 1
0x000C
RWrn + 2
0x0190
RWrn + 3
Not used
0x0000
RWrn + 4
Axis-1 data
0xbbbbbbbb
Axis-2 data
0xbbbbbbbb
Axis-3 data
0xbbbbbbbb
Axis-4 data
0xbbbbbbbb
Axis-5 data
0xbbbbbbbb
Axis-6 data
0xbbbbbbbb
RWrn + 5
RWrn + 6
RWrn + 7
RWrn + 8
RWrn + 9
RWrn + 10
RWrn + 11
RWrn + 12
RWrn + 13
RWrn + 14
RWrn + 15
bbbbbbbb
A-72
Contents
RWrn
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
aaaa
bbbb
Example:
Specify the tool coordinate system jog movement as
shown at right, to move axis 1 of the Robot 1 in the
minus (-) direction, and with the current position being
output in millimeters.
Address
Value
RWwn
0x0022
RWwn + 1
0x8000
RWwn + 2
0x0081
RWwn + 3
0x0000
RWwn + 4
0x0000
RWwn + 5
0x0000
RWwn + 6
0x0000
RWwn + 7
0x0000
RWwn + 8
0x0000
RWwn + 9
0x0000
RWwn + 10
0x0000
RWwn + 11
0x0000
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Address
Value
RWrn
0x4000
RWrn + 1
0x000C
Axis 1
= 12.345
RWrn + 2
0x0190
Axis 2
= -0.123
RWrn + 3
0x0000
Axis 3
= 2.000
RWrn + 4
0x3039
= 0.000
RWrn + 5
0x0000
RWrn + 6
0xFF85
RWrn + 7
0xFFFF
RWrn + 8
0x07D0
Other axes
RWrn + 9
0x0000
RWrn + 10
0x0000
RWrn + 11
0x0000
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
A-73
RWrn + 15
444444
Command
Address
RWwn
RWwn + 1
RWwn + 2
RWwn + 3
Contents
Command code
bit 11 bit 0
Robot designation
bit 15 bit 12
Command flag
Value
0xR024
Robot number
bit 13 bit 0
(0: Fixed)
bit 14
bit 15
m
tt
bit 0
Axis 1
bit 1
Axis 2
bit 2
Axis 3
bit 3
Axis 4
bit 4
Axis 5
bit 5
Axis 6
bit 6
(0: Fixed)
bit 7
Direction
bit 15 bit 8
(0: Fixed)
Not used
0
0x0000
to
RWwn + 15
p, m
Meaning
No output.
Output.
* The "pulse units" and "millimeter units" current position output designation flags cannot be designated at the
same time. Doing so will result in the "4.2 Input format error".
A-74
tt
Meaning
+ direction
- direction
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
RWrn + 2
RWrn + 3
Axis-1 data
0xbbbbbbbb
RWrn + 6
Axis-2 data
0xbbbbbbbb
Axis-3 data
0xbbbbbbbb
Axis-4 data
0xbbbbbbbb
Axis-5 data
0xbbbbbbbb
Axis-6 data
0xbbbbbbbb
RWrn + 7
RWrn + 8
RWrn + 9
RWrn + 10
RWrn + 11
RWrn + 12
RWrn + 13
RWrn + 14
RWrn + 15
bbbbbbbb
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
A-75
RWrn + 4
RWrn + 5
Example:
Value
RWwn
0x0024
RWwn + 1
0x4000
RWwn + 2
0x0002
RWwn + 3
0x0000
RWwn + 4
0x0000
RWwn + 5
0x0000
RWwn + 6
0x0000
RWwn + 7
0x0000
RWwn + 8
0x0000
RWwn + 9
0x0000
RWwn + 10
0x0000
RWwn + 11
0x0000
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
= 12345
RWrn + 2
0x0000
= -123
RWrn + 3
0x0000
RWrn + 4
0x3039
Axis 3
= 2000
Other axes
=0
A-76
Address
RWrn + 5
0x0000
RWrn + 6
0xFF85
RWrn + 7
0xFFFF
RWrn + 8
0x07D0
RWrn + 9
0x0000
RWrn + 10
0x0000
RWrn + 11
0x0000
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
Command
Contents
Value
RWwn
Command code
Robot designation
bit 15 bit 12
Robot number
RWwn + 1
Command flag
bit 13 bit 0
(0: Fixed)
bit 14
bit 15
m
tt
RWwn + 2
RWwn + 3
bit 11 bit 0
0xR025
bit 0
Axis 1
bit 1
Axis 2
bit 2
Axis 3
bit 3
Axis 4
bit 4
Axis 5
bit 5
Axis 6
bit 6
(0: Fixed)
bit 7
Direction
bit 15 bit 8
(0: Fixed)
Not used
0x0000
to
RWwn + 15
p, m
Meaning
No output.
Output.
* The "pulse units" and "millimeter units" current position output designation flags cannot be designated at the
same time. Doing so will result in the "4.2 Input format error".
tt
Meaning
+ direction
- direction
A-77
Address
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
RWrn + 2
RWrn + 3
RWrn + 4
Axis-1 data
0xbbbbbbbb
Axis-2 data
0xbbbbbbbb
Axis-3 data
0xbbbbbbbb
Axis-4 data
0xbbbbbbbb
Axis-5 data
0xbbbbbbbb
Axis-6 data
0xbbbbbbbb
RWrn + 5
RWrn + 6
RWrn + 7
RWrn + 8
RWrn + 9
RWrn + 10
RWrn + 11
RWrn + 12
RWrn + 13
RWrn + 14
RWrn + 15
bbbbbbbb
Abnormal end
Address
RWrn
Contents
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
A-78
Value
Status code
aaaa
bbbb
Example:
Specify the Cartesian coordinate system inching
command as shown at right, to move axis 2 of the
Robot 1 in the plus (+) direction, and with the current
position being output in millimeters. An inching
amount setting of "50" results in a movement amount
of 0.050mm.
Value
RWwn
0x0025
RWwn + 1
0x8000
RWwn + 2
0x0002
RWwn + 3
0x0000
RWwn + 4
0x0000
RWwn + 5
0x0000
RWwn + 6
0x0000
RWwn + 7
0x0000
RWwn + 8
0x0000
RWwn + 9
0x0000
RWwn + 10
0x0000
RWwn + 11
0x0000
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
Axis 1
= 12.345
RWrn + 2
0x0000
= -0.123
RWrn + 3
0x0000
RWrn + 4
0x3039
RWrn + 5
0x0000
Axis 2
Axis 3
= 2.000
Other axes
= 0.000
RWrn + 6
0xFF85
RWrn + 7
0xFFFF
RWrn + 8
0x07D0
RWrn + 9
0x0000
RWrn + 10
0x0000
RWrn + 11
0x0000
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
A-79
A
Remote command guide
Address
Command
Address
Contents
Value
RWwn
Command code
Robot designation
bit 15 bit 12
Robot number
RWwn + 1
Command flag
bit 13 bit 0
(0: Fixed)
bit 14
bit 15
m
tt
RWwn + 2
RWwn + 3
bit 11 bit 0
0xR026
bit 0
Axis 1
bit 1
Axis 2
bit 2
Axis 3
bit 3
Axis 4
bit 4
Axis 5
bit 5
Axis 6
bit 6
(0: Fixed)
bit 7
Direction
bit 15 bit 8
(0: Fixed)
Not used
0x0000
to
RWwn + 15
p, m
Meaning
No output.
Output.
* The "pulse units" and "millimeter units" current position output designation flags cannot be designated at the
same time. Doing so will result in the "4.2 Input format error".
A-80
tt
Meaning
+ direction
- direction
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
RWrn + 2
RWrn + 3
Axis-1 data
0xbbbbbbbb
RWrn + 6
Axis-2 data
0xbbbbbbbb
Axis-3 data
0xbbbbbbbb
Axis-4 data
0xbbbbbbbb
Axis-5 data
0xbbbbbbbb
Axis-6 data
0xbbbbbbbb
RWrn + 7
RWrn + 8
RWrn + 9
RWrn + 10
RWrn + 11
RWrn + 12
RWrn + 13
RWrn + 14
RWrn + 15
bbbbbbbb
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
A-81
RWrn + 4
RWrn + 5
Example:
Value
RWwn
0x0026
RWwn + 1
0x8000
RWwn + 2
0x0002
RWwn + 3
0x0000
RWwn + 4
0x0000
RWwn + 5
0x0000
RWwn + 6
0x0000
RWwn + 7
0x0000
RWwn + 8
0x0000
RWwn + 9
0x0000
RWwn + 10
0x0000
RWwn + 11
0x0000
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
= 12.345
RWrn + 2
0x0000
= -0.123
RWrn + 3
0x0000
RWrn + 4
0x3039
Axis 3
= 2.000
Other axes
= 0.000
A-82
Address
RWrn + 5
0x0000
RWrn + 6
0xFF85
RWrn + 7
0xFFFF
RWrn + 8
0x07D0
RWrn + 9
0x0000
RWrn + 10
0x0000
RWrn + 11
0x0000
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
444444
This command sets the movement amount for inching movement operations.
Command
Address
RWwn
bit 11 bit 0
Robot designation
bit 15 bit 12
Value
Robot number
Not used
0x0000
RWwn + 2
0xdddd
RWwn + 3
Not used
0x0000
to
RWwn + 15
dddd
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
to
RWrn + 15
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
Example:
Use the inching movement amount setting command
to specify an inching movement amount of "100" for
the Robot 1.
Address
Value
RWwn
0x0027
RWwn + 1
0x0000
RWwn + 2
0x0064
RWwn + 3
0x0000
to
RWwn + 15
0xR027
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x0000
to
RWrn + 15
A-83
RWwn + 1
Contents
Command code
444444
Execute this command to teach the current robot position to the specified point number.
Point data units of this command are linked to the controller's point display unit.
Command
Address
RWwn
RWwn + 1
Contents
Command code
bit 11 bit 0
Robot designation
bit 15 bit 12
Value
0xR028
Robot number
Not used
0x0000
RWwn + 2
Point number
0xpppp
RWwn + 3
Point unit
0xaaaa
RWwn + 4
Not used
0x0000
to
RWwn + 15
pppp
aaaa
Meaning
Pulse units
Millimeter units
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
to
RWrn + 15
Abnormal end
Address
RWrn
Contents
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
A-84
Value
Status code
aaaa
bbbb
Example:
Use the point teaching command as shown at right, to
teach the Robot 1 current position to point number
4000 in pulse units.
Address
Value
RWwn
0x0028
RWwn + 1
0x0000
RWwn + 2
0x0FA0
RWwn + 3
0x0000
RWwn + 4
0x0000
to
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x0000
to
RWrn + 15
A-85
RWwn + 15
4444444
When absolute reset of the specified axis uses the mark method, this command moves the axis to the nearest
position where absolute reset can be executed. Positions capable of absolute reset are located at every 1/4
rotation of the motor.
Command
Address
RWwn
Contents
Command code
bit 11 bit 0
Robot designation
bit 15 bit 12
RWwn + 1
Not used
RWwn + 2
RWwn + 3
Value
0xR030
Robot number
0x0000
bit 0
Axis 1
bit 1
Axis 2
bit 2
Axis 3
bit 3
Axis 4
bit 4
Axis 5
bit 5
Axis 6
tt
bit 6
(0: Fixed)
bit 7
Direction
bit 15bit 8
(0: Fixed)
Not used
0
0x0000
to
RWwn + 15
tt
Meaning
+ direction
- direction
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
to
RWrn + 15
Abnormal end
Address
RWrn
Contents
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
A-86
Value
Status code
aaaa
bbbb
Example:
Use the absolute reset movement command as shown
at right to move Axis 2 of the Robot 1 in the minus (-)
direction to a position capable of absolute reset.
Address
Value
RWwn
0x0030
RWwn + 1
0x0000
RWwn + 2
0x0082
RWwn + 3
0x0000
to
RWwn + 15
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x0000
to
RWrn + 15
A-87
4444444
Execute this command to perform absolute reset at a mark type axis. The specified axis must be at a position
where an absolute reset is possible. This command can be used only for a mark type axis.
Command
Address
RWwn
Contents
Command code
bit 11 bit 0
Robot designation
bit 15 bit 12
RWwn + 1
Not used
RWwn + 2
RWwn + 3
Value
0xR031
Robot number
0x0000
bit 0
Axis 1
bit 1
Axis 2
bit 2
Axis 3
bit 3
Axis 4
bit 4
Axis 5
bit 5
Axis 6
bit 15 bit 6
(0: Fixed)
Not used
0x00tt
0x0000
to
RWwn + 15
tt
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
to
RWrn + 15
Abnormal end
Address
RWrn
Contents
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
A-88
Value
Status code
aaaa
bbbb
Example:
Use this command as shown at right, to perform
absolute reset on axis 2 of the Robot 1.
Address
Value
RWwn
0x0031
RWwn + 1
0x0000
RWwn + 2
0x0002
RWwn + 3
0x0000
to
RWwn + 15
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x0000
to
RWrn + 15
A-89
4444444
Return-to-origin command
Command
Address
RWwn
RWwn + 1
RWwn + 2
Contents
Command code
bit 11 bit 0
Robot designation
bit 15 bit 12
Command flag
Value
0xR032
Robot number
bit 0
(0: Fixed)
bit 1
bit 2
bit 3
"Return-to-origin incomplete"
axis designation flag
bit 15 bit 4
(0: Fixed)
Not used
0
0x0000
to
RWwn + 15
a, b, c
: Specifies the details (in 1 bit) of the axis performed the return-to-origin.
Value
Meaning
Details absent
Details present
* Only one designation can be enabled. If no details at all a, b, c value, a return-to-origin will be performed at all
axes.
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
to
RWrn + 15
Abnormal end
Address
RWrn
Contents
0x4000
RWrn + 1
0xaabb
RWrn + 2
0xccdd
RWrn + 3
Not used
0x0000
to
RWrn + 15
A-90
Value
Status code
aaaa
bbbb
Example:
Use this command as shown at right, to perform
return-to-origin on all axes of the Robot 1.
Address
Value
RWwn
0x0032
RWwn + 1
0x0000
RWwn + 2
0x0000
to
RWwn + 15
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x0000
to
RWrn + 15
A-91
Command
Address
RWwn
Contents
bit 11 bit 0
Robot designation
bit 15 bit 12
Robot number
bit 0
Axis 1
bit 1
Axis 2
bit 2
Axis 3
bit 3
Axis 4
bit 4
Axis 5
bit 5
Axis 6
bit 15 bit 6
(0: Fixed)
RWwn + 1
Not used
RWwn + 2
RWwn + 3
Value
Command code
0xR033
0x0000
Not used
0x00tt
0x0000
to
RWwn + 15
tt
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
to
RWrn + 15
Abnormal end
Address
RWrn
Contents
0x4000
RWrn + 1
0xaabb
RWrn + 2
0xccdd
RWrn + 3
Not used
0x0000
to
RWrn + 15
A-92
Value
Status code
aaaa
bbbb
Example:
Use this command as shown at right, to perform
return-to-origin on axis 1 of the Robot 1.
Address
Value
RWwn
0x0033
RWwn + 1
0x0000
RWwn + 2
0x0001
RWwn + 3
0x0000
to
RWwn + 15
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x0000
to
RWrn + 15
A-93
4444444
Ser vo command
Ser vo ON :
Execute this command to turn the servo on at a specified axis. All the robot servos are turned on if no axis is
specified.
Ser vo OFF :
Execute this command to turn the servo off at a specified axis. All the robot servos are turned off if no axis is
specified.
Ser vo Free :
Execute this command to turn off the mechanical brake and dynamic brake after turning off the servo of a
specified axis. All the robot servos are turned free if no axis is specified.
Command
Address
RWwn
Contents
Command code
Servo ON
Robot designation
Command code
bit 16 bit 12
Servo OFF
Robot designation
Command code
Servo Free
RWwn + 1
Not used
RWwn + 2
Specified axis
RWwn + 3
0xR034
Robot number
bit 11 bit 0
bit 16 bit 12
Robot designation
Value
bit 11 bit 0
0xR035
Robot number
bit 11 bit 0
bit 16 bit 12
0xR036
Robot number
0x0000
bit 0
Axis 1
bit 1
Axis 2
bit 2
Axis 3
bit 3
Axis 4
bit 4
Axis 5
bit 5
Axis 6
bit 15 bit 6
(0: Fixed)
Not used
0x00tt
0x0000
to
RWwn + 15
tt
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
to
RWrn + 15
Abnormal end
Address
RWrn
Contents
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
A-94
Value
Status code
aaaa
bbbb
Example:
Use the servo command as shown at right, to free the
servo status at axis 4 of the Robot 1.
Address
Value
RWwn
0x0036
RWwn + 1
0x0000
RWwn + 2
0x0008
RWwn + 3
0x0000
to
RWwn + 15
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x0000
to
RWrn + 15
A-95
4444444
Command
Address
RWwn
RWwn + 1
Contents
Command code
bit 11 bit 0
Robot designation
bit 15 bit 12
Value
0xR038
Robot number
Not used
0x0000
RWwn + 2
Specified speed
0xssss
RWwn + 3
Not used
0x0000
to
RWwn + 15
ssss
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
to
RWrn + 15
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
Example:
Use the manual movement speed change command as
shown at right, to set the manual movement speed of
the Robot 1 to 20%.
Address
Value
RWwn
0x0038
RWwn + 1
0x0000
RWwn + 2
0x0014
RWwn + 3
0x0000
to
RWwn + 15
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x0000
to
RWrn + 15
A-96
4444444
Command
Address
RWwn
bit 11 bit 0
Robot designation
bit 15 bit 12
Value
Robot number
Not used
0x0000
RWwn + 2
Specified speed
0xssss
RWwn + 3
Not used
0x0000
to
RWwn + 15
ssss
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
to
RWrn + 15
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
Example:
Use the automatic movement speed change command
as shown at right, to set the automatic movement
speed of the Robot 1 to 80%.
Address
Value
RWwn
0x0039
RWwn + 1
0x0000
RWwn + 2
0x0050
RWwn + 3
0x0000
to
RWwn + 15
0xR039
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x0000
to
RWrn + 15
A-97
RWwn + 1
Contents
Command code
4444444
Command
Address
RWwn
RWwn + 1
Contents
Command code
bit 11 bit 0
Robot designation
bit 15 bit 12
Value
0xR03A
Robot number
Not used
0x0000
RWwn + 2
Specified speed
0xssss
RWwn + 3
Not used
0x0000
to
RWwn + 15
ssss
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
to
RWrn + 15
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
Example:
Use the program movement speed change command as
shown at right, to set the program movement speed for
the Robot 1 to 80%.
Address
Value
RWwn
0x003A
RWwn + 1
0x0000
RWwn + 2
0x0050
RWwn + 3
0x0000
to
RWwn + 15
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x0000
to
RWrn + 15
A-98
4444444
Execute this command to change the selected shift to a specified shift number.
Command
Address
RWwn
bit 11 bit 0
Robot designation
bit 15 bit 12
Value
Robot number
Not used
0x0000
RWwn + 2
0xssss
RWwn + 3
Not used
0x0000
to
RWwn + 15
ssss
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
to
RWrn + 15
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
Example:
Use the shift designation change command as shown
at right, to set the shift number of the Robot 1 to shift
4.
Address
Value
RWwn
0x003B
RWwn + 1
0x0000
RWwn + 2
0x0004
RWwn + 3
0x0000
to
RWwn + 15
0xR03B
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x0000
to
RWrn + 15
A-99
RWwn + 1
Contents
Command code
4444444
Execute this command to change the selected hand to a specified hand number.
Command
Address
RWwn
RWwn + 1
Contents
Command code
bit 11 bit 0
Robot designation
bit 15 bit 12
Value
0xR03C
Robot number
Not used
0x0000
RWwn + 2
0xssss
RWwn + 3
Not used
0x0000
to
RWwn + 15
ssss
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
to
RWrn + 15
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
Example:
Use the hand designation change command as shown
at right, to set the hand number of the Robot 1 to hand
1.
Address
Value
RWwn
0x003C
RWwn + 1
0x0000
RWwn + 2
0x0001
RWwn + 3
0x0000
to
RWwn + 15
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x0000
to
RWrn + 15
A-100
4444444
Execute this command to change the arm designation status. This command is valid only when SCARA robot is
specified.
Command
Address
RWwn
Command code
bit 11 bit 0
Robot designation
bit 15 bit 12
Value
0xR03D
Robot number
Not used
0x0000
RWwn + 2
0xssss
RWwn + 3
Not used
0x0000
to
RWwn + 15
ssss
Meaning
0x0000
Right-handed system
0x0001
Left-handed system
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
to
RWrn + 15
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
Example:
Use the arm designation change command as shown at
right, to set the arm designation status of the Robot 1
to the right-handed system.
Address
Value
RWwn
0x003D
RWwn + 1
0x0000
RWwn + 2
0x0000
RWwn + 3
0x0000
to
RWwn + 15
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x0000
to
RWrn + 15
A-101
RWwn + 1
Contents
4444444
Execute this command to turn the motor power ON and OFF. All the system servos are also turned ON and
OFF at this time. Axis designations are not possible with this command.
Command
Address
RWwn
Contents
Command code
RWwn + 1
OFF
Value
bit 15 bit 0
0x0041
Command code
ON
bit 15 bit 0
0x0042
Command code
PWR
bit 15 bit 0
0x0043
Not used
0x0000
to
RWwn + 15
OFF
: Turns the motor power OFF. All system servos are also turned OFF at this time, and the dynamic
brake is applied and locked at axes which are equipped with a brake.
ON
: Turns the motor power ON. All system servos are also turned ON at this time.
PWR
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
to
RWrn + 15
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
Example:
Use the motor power command to turn the system
power and the servos ON.
Address
Value
RWwn
0x0042
RWwn + 1
0x0000
RWwn + 2
0x0000
RWwn + 3
0x0000
to
RWwn + 15
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x0000
to
RWrn + 15
A-102
4444444
Execute this command group to allow the robot to move to an absolute position in the tool coordinates.
Command
RWwn
RWwn + 1
RWwn + 2
Contents
Command code
bit 11 bit 0
Robot designation
bit 15 bit 12
Command flag
Value
0xR044
Robot number
bit 0
bit 2 bit 1
a
bb
bit 4 bit 3
(0: Fixed)
bit 5
bit 6
bit 13 bit 7
(0: Fixed)
bit 14
bit 15
bit 0
Axis 1
bit 1
Axis 2
bit 2
Axis 3
bit 3
Axis 4
bit 4
Axis 5
bit 5
Axis 6
bit 15 bit 6
(0: Fixed)
0x00tt
RWwn + 3
Specified speed
0xssss
RWwn + 4
Point number
0xpppp
RWwn + 5
Not used
0x0000
to
RWwn + 9
RWwn + 10
Acceleration designation
RWwn + 11
Deceleration designation
RWwn + 12
Not used
0xrrrr
0xrrrr
0x0000
to
RWwn + 15
bb
Value
Meaning
Meaning
00
Reference range
-
01
1 to 10000
10
Speed is specified in %.
1 to 100
Meaning
Acceleration is specified.
A-103
Address
p, m
Value
Meaning
Deceleration is specified.
Value
Meaning
No output.
Output.
* The "pulse units" and "millimeter units" current position output designation flags cannot be designated at the
same time. Doing so will result in the "4.2 Input format error".
tt
ssss
pppp
rrrr
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
RWrn + 2
RWrn + 3
RWrn + 4
Axis-1 data
0xbbbbbbbb
Axis-2 data
0xbbbbbbbb
Axis-3 data
0xbbbbbbbb
Axis-4 data
0xbbbbbbbb
Axis-5 data
0xbbbbbbbb
Axis-6 data
0xbbbbbbbb
RWrn + 5
RWrn + 6
RWrn + 7
RWrn + 8
RWrn + 9
RWrn + 10
RWrn + 11
RWrn + 12
RWrn + 13
RWrn + 14
RWrn + 15
bbbbbbbb
Abnormal end
Address
RWrn
Contents
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
A-104
Value
Status code
aaaa
bbbb
Example:
Specify the MOVET command with PTP designation as
shown at right, when moving all the axes of the Robot
1 to point number 100 at 50% speed, and with the
current position being output in pulses.
= 123456
Axis 2
= -123
Value
RWwn
0x0044
RWwn + 1
0x4004
RWwn + 2
0x0000
RWwn + 3
0x0032
RWwn + 4
0x0064
RWwn + 5
0x0000
RWwn + 6
0x0000
RWwn + 7
0x0000
RWwn + 8
0x0000
RWwn + 9
0x0000
RWwn + 10
0x0000
RWwn + 11
0x0000
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Address
Value
RWrn
0x0200
Other axes = 0
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0xE240
RWrn + 5
0x0001
RWrn + 6
0xFF85
RWrn + 7
0xFFFF
RWrn + 8
0x0000
RWrn + 9
0x0000
RWrn + 10
0x0000
RWrn + 11
0x0000
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
A-105
A
Remote command guide
Axis 1
Address
Linear interpolation
This command designates a point number which allows the robot to perform linear interpolation movement to
a target position in the tool coordinates.
Command
Address
RWwn
RWwn + 1
RWwn + 2
Contents
Value
Command code
bit 11 bit 0
Robot designation
bit 15 bit 12
Command flag
bit 0
bit 2 bit 1
bb
bit 4 bit 3
(0: Fixed)
0xR045
Robot number
a
bit 5
bit 6
bit 13 bit 7
(0: Fixed)
bit 14
bit 15
bit 0
Axis 1
bit 1
Axis 2
bit 2
Axis 3
bit 3
Axis 4
bit 4
Axis 5
bit 5
Axis 6
bit 15 bit 6
(0: Fixed)
0x00tt
RWwn + 3
Specified speed
0xssss
RWwn + 4
Point number
0xpppp
RWwn + 5
Not used
0x0000
to
RWwn + 9
RWwn + 10
Acceleration designation
RWwn + 11
Deceleration designation
RWwn + 12
Not used
0xrrrr
0xrrrr
0x0000
to
RWwn + 15
bb
Value
Meaning
A-106
Meaning
Reference range
00
01
1 to 10000
10
Speed is specified in %.
1 to 100
11
Meaning
Acceleration is specified.
p, m
Value
Meaning
Deceleration is specified.
No output.
Output.
* The "pulse units" and "millimeter units" current position output designation flags cannot be designated at the
same time. Doing so will result in the "4.2 Input format error".
tt
ssss
pppp
rrrr
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
RWrn + 2
RWrn + 3
RWrn + 4
Axis-1 data
0xbbbbbbbb
Axis-2 data
0xbbbbbbbb
Axis-3 data
0xbbbbbbbb
Axis-4 data
0xbbbbbbbb
Axis-5 data
0xbbbbbbbb
Axis-6 data
0xbbbbbbbb
RWrn + 5
RWrn + 6
RWrn + 7
RWrn + 8
RWrn + 9
RWrn + 10
RWrn + 11
RWrn + 12
RWrn + 13
RWrn + 14
RWrn + 15
bbbbbbbb
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
A-107
Value
Example:
Address
Value
RWwn
0x0045
RWwn + 1
0x8026
RWwn + 2
0x0000
RWwn + 3
0x00C8
RWwn + 4
0x0064
RWwn + 5
0x0000
RWwn + 6
0x0000
RWwn + 7
0x0000
RWwn + 8
0x0000
RWwn + 9
0x0000
RWwn + 10
0x0032
RWwn + 11
0x0000
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x3039
RWrn + 5
0x0000
RWrn + 6
0xFF85
RWrn + 7
0xFFFF
RWrn + 8
0x1388
RWrn + 9
0x0000
RWrn + 10
0x233F
RWrn + 11
0x0000
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
Axis 1
= 12.345
Axis 2
= -0.123
Axis 3
= 5.000
Axis 4
= 9.023
A-108
4444444
Command
RWwn
Contents
Value
Command code
bit 11 bit 0
Robot designation
bit 15 bit 12
Robot number
bit 0
Axis 1
bit 1
Axis 2
bit 2
Axis 3
bit 3
Axis 4
bit 4
Axis 5
bit 5
Axis 6
bit 15 bit 6
(0: Fixed)
RWwn + 1
Not used
RWwn + 2
Torque designation
axis
0xR048
0x0000
0x00tt
RWwn + 3
Designated torque
0xdddd
RWwn + 4
Not used
0x0000
to
RWwn + 15
tt
: Specifies (by lower 8 bits) the axis where the torque value is to be changed.
Only one axis can be specified.
dddd
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
to
RWrn + 15
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
A-109
Address
Example:
Address
Value
RWwn
0x0048
RWwn + 1
0x0000
RWwn + 2
0x0001
RWwn + 3
0x0032
RWwn + 4
0x0000
to
RWwn + 15
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x0000
to
RWrn + 15
A-110
4444444
Execute this command group to perform a push operation at the specified robot axis.
This command can only be executed for one axis.
Point designation
This command designates a point number which allows the specified robot axis to perform a PTP operation to
a target position.
Contents
Value
RWwn
Command code
Robot designation
bit 15 bit 12
Robot number
RWwn + 1
Command flag
bit 0
(1: Fixed)
bit 2 bit 1
RWwn + 2
bit 11 bit 0
0xR04B
1
bb
bit 6 bit 3
(0: Fixed)
bit 7
bit 8
bit 13 bit 9
(0: Fixed)
bit 14
bit 15
bit 0
Axis 1
bit 1
Axis 2
bit 2
Axis 3
bit 3
Axis 4
bit 4
Axis 5
bit 5
Axis 6
bit 15 bit 6
(0: Fixed)
0x00tt
RWwn + 3
Specified speed
0xssss
RWwn + 4
Point number
0xpppp
RWwn + 5
Not used
0x0000
to
RWwn + 7
RWwn + 8
RWwn + 9
0xffff
RWwn + 10
Not used
0xjjjj
0x0000
to
RWwn + 15
bb
Meaning
Reference range
00
01
1 to 10000
10
Speed is specified in %.
1 to 100
Meaning
Meaning
A-111
Address
p, m
Meaning
No output.
Output.
* The "pulse units" and "millimeter units" current position output designation flags cannot be designated at the
same time. Doing so will result in the "4.2 Input format error".
tt
ssss
pppp
ffff
jjjj
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
RWrn + 2
RWrn + 3
RWrn + 4
PUSH command
completion conditions
bit 0
bit 15 bit 1
(0: Fixed)
Axis-1 data
0xbbbbbbbb
Axis-2 data
0xbbbbbbbb
Axis-3 data
0xbbbbbbbb
Axis-4 data
0xbbbbbbbb
Axis-5 data
0xbbbbbbbb
Axis-6 data
0xbbbbbbbb
RWrn + 5
RWrn + 6
RWrn + 7
RWrn + 8
RWrn + 9
RWrn + 10
RWrn + 11
RWrn + 12
RWrn + 13
RWrn + 14
RWrn + 15
bbbbbbbb
Abnormal end
Address
RWrn
Contents
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
A-112
Value
Status code
aaaa
bbbb
Example:
Use the PUSH operation command to move Axis 3 of
the Robot 1 to point 100 at 50% speed with a push
force of 100, a push time-period of 100, and with the
current position being output in millimeters.
Value
RWwn
0x004B
RWwn + 1
0x8185
RWwn + 2
0x0004
RWwn + 3
0x0032
RWwn + 4
0x0064
RWwn + 5
0x0000
RWwn + 6
0x0000
RWwn + 7
0x0000
RWwn + 8
0x0032
RWwn + 9
0x0032
RWwn + 10
0x0000
RWwn + 11
0x0000
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
Axis 1
= 12.345
RWrn + 2
0x0000
Axis 2
= -0.123
RWrn + 3
0x0001
Axis 3
= 2.000
RWrn + 4
0x3039
= 0.000
RWrn + 5
0x0000
RWrn + 6
0xFF85
RWrn + 7
0xFFFF
RWrn + 8
0x07D0
RWrn + 9
0x0000
RWrn + 10
0x0000
RWrn + 11
0x0000
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
Other axes
A-113
A
Remote command guide
Address
This command moves the specified axis of the robot to a target position in PTP motion by directly specifying
the data in millimeters.
Address
RWwn
RWwn + 1
RWwn + 2
Contents
Command code
bit 11 bit 0
Robot designation
bit 15 bit 12
Command flag
Value
0xR04C
Robot number
bit 0
(1: Fixed)
bit 2 bit 1
1
bb
bit 6 bit 3
(0: Fixed)
bit 7
bit 8
bit 13 bit 9
(0: Fixed)
bit 14
bit 15
bit 0
Axis 1
bit 1
Axis 2
bit 2
Axis 3
bit 3
Axis 4
bit 4
Axis 5
bit 5
Axis 6
bit 15 bit 6
(0: Fixed)
0x00tt
RWwn + 3
Specified speed
0xssss
RWwn + 4
Movement data
0xpppppppp
RWwn + 5
RWwn + 6
Not used
0x0000
RWwn + 7
RWwn + 8
RWwn + 9
0xffff
RWwn + 10
Not used
0xjjjj
0x0000
to
RWwn + 15
bb
p, m
Value
Meaning
00
Reference range
-
01
1 to 10000
10
Speed is specified in %.
1 to 100
Meaning
Meaning
Meaning
No output.
Output.
* The "pulse units" and "millimeter units" current position output designation flags cannot be designated at the
same time. Doing so will result in the "4.2 Input format error".
A-114
ssss
pppppppp
: Specify the target movement distance data for each axis in 32 bits. (little endian)
Data should be integers (x 1000) in millimeter units.
ffff
jjjj
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
RWrn + 2
RWrn + 3
RWrn + 4
PUSH command
completion conditions
bit 0
bit 15 bit 1
(0: Fixed)
Axis-1 data
0xbbbbbbbb
Axis-2 data
0xbbbbbbbb
Axis-3 data
0xbbbbbbbb
Axis-4 data
0xbbbbbbbb
Axis-5 data
0xbbbbbbbb
Axis-6 data
0xbbbbbbbb
RWrn + 5
RWrn + 6
RWrn + 7
RWrn + 8
RWrn + 9
RWrn + 10
RWrn + 11
RWrn + 12
RWrn + 13
RWrn + 14
RWrn + 15
bbbbbbbb
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
A-115
tt
Example:
Address
Value
RWwn
0x004C
RWwn + 1
0x8185
RWwn + 2
0x0004
RWwn + 3
0x0032
RWwn + 4
0x2710
RWwn + 5
0x0000
RWwn + 6
0x0000
RWwn + 7
0x0000
RWwn + 8
0x0032
RWwn + 9
0x0032
RWwn + 10
0x0000
RWwn + 11
0x0000
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
Axis 1
= 12.345
RWrn + 2
0x0000
Axis 2
= -0.123
RWrn + 3
0x0001
Axis 3
= 9.000
RWrn + 4
0x3039
= 0.000
RWrn + 5
0x0000
RWrn + 6
0xFF85
RWrn + 7
0xFFFF
RWrn + 8
0x2328
RWrn + 9
0x0000
RWrn + 10
0x0000
RWrn + 11
0x0000
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
Other axes
A-116
bit 11 bit 0
Robot designation
bit 15 bit 12
Command flag
Value
0xR04D
bit 0
(1: Fixed)
bit 2 bit 1
1
bb
bit 6 bit 3
(0: Fixed)
bit 7
bit 8
bit 13 bit 9
(0: Fixed)
bit 14
bit 15
bit 0
Axis 1
bit 1
Axis 2
bit 2
Axis 3
bit 3
Axis 4
bit 4
Axis 5
bit 5
Axis 6
bit 15 bit 6
(0: Fixed)
0x00tt
RWwn + 3
Specified speed
0xssss
RWwn + 4
Movement data
0xpppppppp
RWwn + 5
RWwn + 6
Not used
0x0000
RWwn + 7
RWwn + 8
RWwn + 9
RWwn + 10
Not used
0xffff
0xjjjj
0x0000
to
RWwn + 15
bb
p, m
Value
Meaning
00
01
1 to 10000
10
Speed is specified in %.
1 to 100
Reference range
Meaning
Meaning
Meaning
No output.
Output.
Robot number
* The "pulse units" and "millimeter units" current position output designation flags cannot be designated at the
same time. Doing so will result in the "4.2 Input format error".
A-117
RWwn + 2
Contents
Command code
tt
ssss
pppppppp
: Specify the target movement distance data for each axis in 32 bits. (little endian)
Data should be integers in pulse units.
ffff
jjjj
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
RWrn + 2
RWrn + 3
RWrn + 4
PUSH command
completion conditions
bit 0
bit 15 bit 1
(0: Fixed)
Axis-1 data
0xbbbbbbbb
Axis-2 data
0xbbbbbbbb
Axis-3 data
0xbbbbbbbb
Axis-4 data
0xbbbbbbbb
Axis-5 data
0xbbbbbbbb
Axis-6 data
0xbbbbbbbb
RWrn + 5
RWrn + 6
RWrn + 7
RWrn + 8
RWrn + 9
RWrn + 10
RWrn + 11
RWrn + 12
RWrn + 13
RWrn + 14
RWrn + 15
bbbbbbbb
Abnormal end
Address
RWrn
Contents
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
A-118
Value
Status code
aaaa
bbbb
Example:
Specify the PUSH operation command as shown at
right, to move Axis 3 of the Robot 1 to position 10000
at 50% speed with a push force of 100, a push
time-period of 100, and with the current position being
output in pulses.
Value
RWwn
0x004D
RWwn + 1
0x4185
RWwn + 2
0x0004
RWwn + 3
0x0032
RWwn + 4
0x2710
RWwn + 5
0x0000
RWwn + 6
0x0000
RWwn + 7
0x0000
RWwn + 8
0x0032
RWwn + 9
0x0032
RWwn + 10
0x0000
RWwn + 11
0x0000
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
Axis 1
= 12345
RWrn + 2
0x0000
Axis 2
= -123
RWrn + 3
0x0001
Axis 3
= 9000
RWrn + 4
0x3039
=0
RWrn + 5
0x0000
RWrn + 6
0xFF85
RWrn + 7
0xFFFF
RWrn + 8
0x2328
RWrn + 9
0x0000
RWrn + 10
0x0000
RWrn + 11
0x0000
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
Other axes
A-119
A
Remote command guide
Address
4444
2-2
2-3
2-4
2-5
A-120
Command contents
Point-related commands
Pallet-related command
Shift-related command
Hand-related command
0x0100
0x0101
0x0104
0x0105
0x0108
0x0109
0x010C
0x010D
0xR110
0xR111
444444
Point-related command
Command
Contents
RWwn
Command code
RWwn + 1
Command flag
Value
0x0100
bit 0
Point unit
bit 2 bit 1
Hand system
tt
bit 6 bit 3
xr
bit 10 bit 7
yr
bit 15 bit 11
(0: Fixed)
RWwn + 2
Point number
0xssss
RWwn + 3
Not used
RWwn + 4
Axis-1 data
0xbbbbbbbb
Axis-2 data
0xbbbbbbbb
Axis-3 data
0xbbbbbbbb
Axis-4 data
0xbbbbbbbb
Axis-5 data
0xbbbbbbbb
Axis-6 data
0xbbbbbbbb
0x0000
RWwn + 5
RWwn + 6
RWwn + 7
RWwn + 8
RWwn + 9
RWwn + 10
RWwn + 11
RWwn + 12
RWwn + 13
RWwn + 14
RWwn + 15
tt
xr / yr
Meaning
Pulse units
Millimeter units
Meaning
01
10
Other
: Shows in 4 bits the defined "number 1 arm rotation information" and "number 2 arm rotation
information". (*1)
These items are available only on YK500TW model SCARA robots.
Value
Meaning
0000
0001
1111
Other
ssss
bbbbbbbb
CAUTION
(*1) For details, refer to the "Point Data Display / Editing" section of the "Operators Manual for YAMAHAs RCX340
4-axis robot controller".
A-121
Address
Status
Normal end
Address
Contents
RWrn
RWrn + 1
Value
Status code
0x0200
Not used
0x0000
to
RWrn + 15
Abnormal end
Address
Contents
RWrn
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
Example:
Address
Value
RWwn
0x0100
RWwn + 1
0x0000
RWwn + 2
0x0064
= 10000
RWwn + 3
0x0000
= -20000
RWwn + 4
0x2710
= 5000
Axis 4
= -18000
Other axes
=0
A-122
RWwn + 5
0x0000
RWwn + 6
0xB1E0
RWwn + 7
0xFFFF
RWwn + 8
0x1388
RWwn + 9
0x0000
RWwn + 10
0xB9B0
RWwn + 11
0xFFFF
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x0000
RWrn + 5
0x0000
RWrn + 6
0x0000
RWrn + 7
0x0000
RWrn + 8
0x0000
RWrn + 9
0x0000
RWrn + 10
0x0000
RWrn + 11
0x0000
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
Command
Address
RWwn
Contents
Value
Command code
0x0101
0x0000
Not used
Point number
0xssss
RWwn + 3
Not used
0x0000
to
RWwn + 15
ssss
Status
Normal end
Address
RWrn
Contents
Value
Status code
0x0200
RWrn + 1
Not used
0x0000
RWrn + 2
Point number
RWrn + 3
Point flag
RWrn + 4
0xssss
bit 0
Point unit
bit 2 bit 1
Hand system
tt
bit 6 bit 3
xr
bit 10 bit 7
yr
bit 15 bit 11
(0: Fixed)
Axis-1 data
0xbbbbbbbb
Axis-2 data
0xbbbbbbbb
Axis-3 data
0xbbbbbbbb
Axis-4 data
0xbbbbbbbb
Axis-5 data
0xbbbbbbbb
Axis-6 data
0xbbbbbbbb
RWrn + 5
RWrn + 6
RWrn + 7
RWrn + 8
RWrn + 9
RWrn + 10
RWrn + 11
RWrn + 12
RWrn + 13
RWrn + 14
RWrn + 15
ssss
tt
xr / yr
Value
Meaning
Pulse units
Millimeter units
Meaning
00
01
10
: Shows in 4 bits the defined "number 1 arm rotation information" and "number 2 arm rotation
information". (*1)
These items are available only on YK500TW model SCARA robots.
Value
Meaning
0000
0001
1111
A-123
RWwn + 1
RWwn + 2
bbbbbbb
CAUTION
(*1) For details, refer to the "Point Data Display / Editing" section of the "Operators Manual for YAMAHAs RCX340
4-axis robot controller".
Abnormal end
Address
Contents
RWrn
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
Example:
Use the point data reference command as shown at right,
to search and obtain point data at point number 50.
Address
Value
RWwn
0x0101
RWwn + 1
0x0000
RWwn + 2
0x0032
RWwn + 3
0x0000
RWwn + 4
0x0000
RWwn + 5
0x0000
RWwn + 6
0x0000
RWwn + 7
0x0000
RWwn + 8
0x0000
RWwn + 9
0x0000
RWwn + 10
0x0000
RWwn + 11
0x0000
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
Axis 1
= 10.000
RWrn + 2
0x0032
Axis 2
= -20.000
RWrn + 3
0x0001
Axis 3
= 5.000
RWrn + 4
0x2710
= -18.000
RWrn + 5
0x0000
RWrn + 6
0xB1E0
RWrn + 7
0xFFFF
RWrn + 8
0x1388
Axis 4
Other axes
A-124
= 0.000
RWrn + 9
0x0000
RWrn + 10
0xB9B0
RWrn + 11
0xFFFF
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
444444
Command
RWwn
RWwn + 1
Contents
Value
Command code
0x0104
Not used
0x0000
RWwn + 2
Point number
0xssss
RWwn + 3
Not used
0x0000
RWwn + 4
Comment data
0xbbbb
RWwn + 5
0xbbbb
RWwn + 6
0xbbbb
RWwn + 7
0xbbbb
RWwn + 8
0xbbbb
RWwn + 9
0xbbbb
RWwn + 10
0xbbbb
RWwn + 11
RWwn + 12
0xbbbb
Not used
0x0000
to
RWwn + 15
ssss
bb
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
to
RWrn + 15
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
A-125
Address
Example:
Address
Value
RWwn
0x0104
RWwn + 1
0x0000
RWwn + 2
0x0064
RWwn + 3
0x0000
RWwn + 4
0x4157
RWwn + 5
0x5449
RWwn + 6
0x4F20
"A" = 0x41
RWwn + 7
0x4752
RWwn + 8
0x0000
"T" = 0x54
RWwn + 9
0x0000
RWwn + 10
0x0000
"O" = 0x4F
RWwn + 11
0x0000
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
"R" = 0x52
"G" = 0x47)
A-126
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x0000
RWrn + 5
0x0000
RWrn + 6
0x0000
RWrn + 7
0x0000
RWrn + 8
0x0000
RWrn + 9
0x0000
RWrn + 10
0x0000
RWrn + 11
0x0000
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
Command
Address
RWwn
Contents
Value
Command code
0x0105
0x0000
Not used
Point number
0xssss
RWwn + 3
Not used
0x0000
to
RWwn + 15
ssss
Status
Normal end
Address
RWrn
Contents
Value
Status code
0x0200
RWrn + 1
Not used
0x0000
RWrn + 2
Point number
0xssss
RWrn + 3
Not used
0x0000
RWrn + 4
Comment data
0xbbbb
RWrn + 5
0xbbbb
RWrn + 6
0xbbbb
RWrn + 7
0xbbbb
RWrn + 8
0xbbbb
RWrn + 9
0xbbbb
RWrn + 10
0xbbbb
RWrn + 11
RWrn + 12
0xbbbb
Not used
0x0000
to
RWrn + 15
ssss
bb
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
A-127
RWwn + 1
RWwn + 2
Example:
Address
Value
RWwn
0x0105
RWwn + 1
0x0000
RWwn + 2
0x0032
RWwn + 3
0x0000
RWwn + 4
0x0000
RWwn + 5
0x0000
RWwn + 6
0x0000
RWwn + 7
0x0000
RWwn + 8
0x0000
RWwn + 9
0x0000
RWwn + 10
0x0000
RWwn + 11
0x0000
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Address
Value
RWrn
0x0200
Point number = 50
RWrn + 1
0x0000
RWrn + 2
0x0032
RWrn + 3
0x0000
RWrn + 4
0x4157
A-128
RWrn + 5
0x5449
RWrn + 6
0x4F20
RWrn + 7
0x4752
RWrn + 8
0x0000
RWrn + 9
0x0000
RWrn + 10
0x0000
RWrn + 11
0x0000
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
444444
Pallet-related command
Command
Address
RWwn
Contents
Value
Command code
0x0108
0x0000
RWwn + 1
Not used
RWwn + 2
Pallet number
0xssss
RWwn + 3
0xaaaa
RWwn + 4
0xaaaa
RWwn + 5
0xaaaa
RWwn + 6
0xpppp
RWwn + 7
Not used
0x0000
to
RWwn + 15
ssss
aaaa
pppp
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
to
RWrn + 15
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
A-129
Example:
Address
Value
RWwn
0x0108
RWwn + 1
0x0000
Pallet number
= 10
RWwn + 2
0x000A
Nx
= 10
RWwn + 3
0x000A
RWwn + 4
0x000F
RWwn + 5
0x0001
RWwn + 6
0x0064
RWwn + 7
0x0000
Ny
= 15
Nz
=1
= 100
to
RWwn + 15
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
to
RWrn + 15
Command
Address
RWwn
RWwn + 1
Contents
Value
Command code
0x0109
Not used
0x0000
RWwn + 2
Pallet number
0xssss
RWwn + 3
Not used
0x0000
to
RWwn + 15
ssss
Status
Normal end
Address
RWrn
Contents
0x0200
RWrn + 1
Not used
0x0000
RWrn + 2
Pallet number
0xssss
RWrn + 3
0xaaaa
RWrn + 4
0xaaaa
RWrn + 5
0xaaaa
RWrn + 6
0xpppp
RWrn + 7
Not used
0x0000
to
RWrn + 15
A-130
Value
Status code
ssss
aaaa
pppp
Abnormal end
Address
Contents
RWrn
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
aaaa
bbbb
Example:
Use the pallet data reference command as shown at
right, to obtain pallet data at pallet number 10.
Address
Value
RWwn
0x0109
RWwn + 1
0x0000
RWwn + 2
0x000A
RWwn + 3
0x0000
to
RWwn + 15
Address
Value
RWrn
0x0200
Pallet number
= 10
RWrn + 1
0x0000
Nx
= 10
RWrn + 2
0x000A
Ny
= 15
RWrn + 3
0x000A
=1
RWrn + 4
0x000F
RWrn + 5
0x0001
RWrn + 6
0x0064
RWrn + 7
0x0000
Nz
First point number
= 100
to
RWrn + 15
A-131
RWrn + 15
444444
Shift-related command
Command
Address
RWwn
RWwn + 1
Contents
Value
Command code
0x010C
Not used
0x0000
RWwn + 2
Shift number
0xssss
RWwn + 3
Not used
0x0000
RWwn + 4
Axis-1 data
0xbbbbbbbb
Axis-2 data
0xbbbbbbbb
Axis-3 data
0xbbbbbbbb
Axis-4 data
0xbbbbbbbb
RWwn + 5
RWwn + 6
RWwn + 7
RWwn + 8
RWwn + 9
RWwn + 10
RWwn + 11
RWwn + 12
Not used
0x0000
to
RWwn + 15
ssss
bbbbbbbb
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
to
RWrn + 15
Abnormal end
Address
RWrn
Contents
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
A-132
Value
Status code
aaaa
bbbb
Example:
Use the shift data definition command as shown at
right, to create the following shift data.
Shift number = 5
Axis 1
= 10.000
= -20.000
Axis 3
= 5.000
Axis 4
= -18.000
Value
RWwn
0x010C
RWwn + 1
0x0000
RWwn + 2
0x0005
RWwn + 3
0x0000
RWwn + 4
0x2710
RWwn + 5
0x0000
RWwn + 6
0xB1E0
RWwn + 7
0xFFFF
RWwn + 8
0x1388
RWwn + 9
0x0000
RWwn + 10
0xB9B0
RWwn + 11
0xFFFF
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x0000
RWrn + 5
0x0000
RWrn + 6
0x0000
RWrn + 7
0x0000
RWrn + 8
0x0000
RWrn + 9
0x0000
RWrn + 10
0x0000
RWrn + 11
0x0000
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
A-133
A
Remote command guide
Axis 2
Address
Command
Address
RWwn
Contents
Value
Command code
0x010D
0x0000
RWwn + 1
Not used
RWwn + 2
Shift number
0xssss
RWwn + 3
Not used
0x0000
to
RWwn + 15
ssss
Status
Normal end
Address
RWrn
Contents
Value
Status code
0x0200
RWrn + 1
Not used
0x0000
RWrn + 2
Shift number
0xssss
RWrn + 3
Not used
0x0000
RWrn + 4
Data 1
0xbbbbbbbb
Data 2
0xbbbbbbbb
Data 3
0xbbbbbbbb
Data 4
0xbbbbbbbb
RWrn + 5
RWrn + 6
RWrn + 7
RWrn + 8
RWrn + 9
RWrn + 10
RWrn + 11
RWrn + 12
Not used
0x0000
to
RWrn + 15
ssss
bbbbbbbb
Abnormal end
Address
RWrn
Contents
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
A-134
Value
Status code
aaaa
bbbb
Example:
Use the shift data reference command as shown at
right, to obtain shift data at shift number 5.
Value
RWwn
0x010D
RWwn + 1
0x0000
RWwn + 2
0x0005
RWwn + 3
0x0000
RWwn + 4
0x0000
RWwn + 5
0x0000
RWwn + 6
0x0000
RWwn + 7
0x0000
RWwn + 8
0x0000
RWwn + 9
0x0000
RWwn + 10
0x0000
RWwn + 11
0x0000
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Address
Value
RWrn
0x0200
Shift number = 5
RWrn + 1
0x0000
Axis 1
= 10.000
RWrn + 2
0x0005
= -20.000
RWrn + 3
0x0000
RWrn + 4
0x2710
Axis 2
Axis 3
= 5.000
Axis 4
= -18.000
RWrn + 5
0x0000
RWrn + 6
0xB1E0
RWrn + 7
0xFFFF
RWrn + 8
0x1388
RWrn + 9
0x0000
RWrn + 10
0xB9B0
RWrn + 11
0xFFFF
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
A-135
A
Remote command guide
Address
444444
Hand-related command
Command
Address
RWwn
Contents
Command code
bit 11 bit 0
Robot designation
bit 15 bit 12
Value
0xR110
Robot number
RWwn + 1
Not used
RWwn + 2
Hand number
0x0000
0xssss
RWwn + 3
Not used
0x0000
RWwn + 4
Data 1
0xbbbbbbbb
Data 2
0xbbbbbbbb
Data 3
0xbbbbbbbb
Data 4
0xbbbbbbbb
RWwn + 5
RWwn + 6
RWwn + 7
RWwn + 8
RWwn + 9
RWwn + 10
RWwn + 11
RWwn + 12
Not used
0x0000
to
RWwn + 15
ssss
bbbbbbbb
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
to
RWrn + 15
Abnormal end
Address
RWrn
Contents
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
A-136
Value
Status code
aaaa
bbbb
Example:
Use the hand data definition command as shown at
right, to create hand data for a Cartesian robot.
Hand number = 1
Data 1
= 10.000
= -2.000
Data 3
= 5.000
Data 4
=0
Value
RWwn
0x0110
RWwn + 1
0x0000
RWwn + 2
0x0001
RWwn + 3
0x0000
RWwn + 4
0x2710
RWwn + 5
0x0000
RWwn + 6
0xF830
RWwn + 7
0xFFFF
RWwn + 8
0x1388
RWwn + 9
0x0000
RWwn + 10
0x0000
RWwn + 11
0x0000
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x0000
to
RWrn + 15
A-137
A
Remote command guide
Data 2
Address
Commands
Address
RWwn
Contents
Command code
bit 11 bit 0
Robot designation
bit 15 bit 12
Value
0x0111
Robot number
RWwn + 1
Not used
RWwn + 2
Hand number
0x0000
0xssss
RWwn + 3
Not used
0x0000
to
RWwn + 15
ssss
Status
Normal end
Address
RWrn
Contents
Value
Status code
0x0200
RWrn + 1
Not used
0x0000
RWrn + 2
Hand number
0xssss
RWrn + 3
Not used
RWrn + 4
Data 1
0xbbbbbbbb
Data 2
0xbbbbbbbb
Data 3
0xbbbbbbbb
Data 4
0xbbbbbbbb
0xrrrr
RWrn + 5
RWrn + 6
RWrn + 7
RWrn + 8
RWrn + 9
RWrn + 10
RWrn + 11
RWrn + 12
Not used
0x0000
to
RWrn + 15
ssss
rrrr
bbbbbbbb
Abnormal end
Address
RWrn
Contents
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
A-138
Value
aaaa
bbbb
Example:
Use the hand data reference command as shown at
right, to obtain hand data.
Value
RWwn
0x0111
RWwn + 1
0x0000
RWwn + 2
0x0001
RWwn + 3
0x0000
RWwn + 4
0x0000
RWwn + 5
0x0000
RWwn + 6
0x0000
RWwn + 7
0x0000
RWwn + 8
0x0000
RWwn + 9
0x0000
RWwn + 10
0x0000
RWwn + 11
0x0000
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Address
Value
RWrn
0x0200
Hand number = 1
RWrn + 1
0x0000
Data 1
RWrn + 2
0x0001
RWrn + 3
0x0001
RWrn + 4
0x2710
= 10.000
Data 2
= -2.000
Data 3
= 5.000
Data 4
=0
RWrn + 5
0x0000
RWrn + 6
0xF830
RWrn + 7
0xFFFF
RWrn + 8
0x1388
RWrn + 9
0x0000
RWrn + 10
0x0000
RWrn + 11
0x0000
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
A-139
A
Remote command guide
Address
4444
Category 3 remote commands are arithmetic commands. A command list is given below.
No.
3-1
Command contents
Static variable-related commands
Assignment
Addition
Subtraction
Multiplication
Division
Reference
3-2
3-3
A-140
Parameter-related command
Point-related command
0x0200
Variable
0x0201
Value
0x0204
Variable
0x0205
Value
0x0208
Variable
0x0209
Value
0x020C
Variable
0x020D
Value
0x0210
Variable
0x0211
Variable
0x0214
Assignment
0xR220
Reference
0xR224
Point assignment
0x0230
Addition
0x0234
Subtraction
0x0235
0x0238
Point element
assignment
0x0240
0x0241
Shift element
assignment
0x0245
444444
Execute this command to assign a numerical value to a static variable for four arithmetic operations or
reference.
CAUTION
A real number is assigned when a real variable was used.
Due to cancellation of significant digits when using real number data for assignment reference, the assigned
data might sometimes differ from the reference data.
Command
Address
RWwn
RWwn + 1
Contents
Value
Command code
0x0200
Not used
0x0000
RWwn + 2
0xssss
RWwn + 3
Not used
0x0000
RWwn + 4
Numerical data
0xbbbbbbbb
RWwn + 5
RWwn + 6
Not used
0x0000
to
RWwn + 15
ssss
bbbbbbbb
Integer variable
Variable number
Real variable
Variable number
SGI0
0 (=0x0000)
SGR0
256 (=0x0100)
SGI1
1 (=0x0001)
SGR1
257 (=0x0101)
SGI31
31 (=0x001F)
SGR31
287 (=0x011F)
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
to
RWrn + 15
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
A-141
A
Remote command guide
This command assigns a numerical value to a static variable (SGIn or SGRn) by specifying the destination
variable number and the numerical value.
Variable number 1 = numerical value
Example:
=1
= 10000
Numerical data
Address
Value
RWwn
0x0200
RWwn + 1
0x0000
RWwn + 2
0x0001
RWwn + 3
0x0000
RWwn + 4
0x2710
RWwn + 5
0x0000
RWwn + 6
0x0000
RWwn + 7
0x0000
RWwn + 8
0x0000
RWwn + 9
0x0000
RWwn + 10
0x0000
RWwn + 11
0x0000
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x0000
to
RWrn + 15
A-142
Command
Address
Contents
Value
Command code
0x0201
0x0000
RWwn + 1
Not used
RWwn + 2
0xssss
RWwn + 3
Not used
0x0000
RWwn + 4
0xssss
RWwn + 5
Not used
0x0000
to
RWwn + 15
ssss
Variable number
Real variable
Variable number
SGI0
0 (=0x0000)
SGR0
256 (=0x0100)
SGI1
1 (=0x0001)
SGR1
257 (=0x0101)
SGI31
31 (=0x001F)
SGR31
287 (=0x011F)
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
to
RWrn + 15
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
A-143
RWwn
Example:
A
Remote command guide
Address
Value
RWwn
0x0201
RWwn + 1
0x0000
RWwn + 2
0x0001
Variable number 1 = 1
RWwn + 3
0x0000
Variable number 2 = 2
RWwn + 4
0x0002
RWwn + 5
0x0000
RWwn + 6
0x0000
RWwn + 7
0x0000
RWwn + 8
0x0000
RWwn + 9
0x0000
RWwn + 10
0x0000
RWwn + 11
0x0000
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
A-144
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x0000
RWrn + 5
0x0000
RWrn + 6
0x0000
RWrn + 7
0x0000
RWrn + 8
0x0000
RWrn + 9
0x0000
RWrn + 10
0x0000
RWrn + 11
0x0000
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
Command
Address
Contents
Command code
Value
Addition
0x0204
Subtraction
0x0208
Multiplication
0x020C
Division
RWwn + 1
0x0210
Not used
0x0000
RWwn + 2
0xssss
RWwn + 3
Not used
0x0000
RWwn + 4
Numerical data
0xbbbbbbbb
RWwn + 5
RWwn + 6
Not used
0x0000
to
RWwn + 15
ssss
bbbbbbbb
Integer variable
Variable number
Real variable
Variable number
SGI0
0 (=0x0000)
SGR0
256 (=0x0100)
SGI1
1 (=0x0001)
SGR1
257 (=0x0101)
SGI31
31 (=0x001F)
SGR31
287 (=0x011F)
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
to
RWrn + 15
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
A-145
RWwn
Example:
=1
= 10000
Numerical data
A-146
Address
Value
RWwn
0x0204
RWwn + 1
0x0000
RWwn + 2
0x0001
RWwn + 3
0x0000
RWwn + 4
0x2710
RWwn + 5
0x0000
RWwn + 6
0x0000
RWwn + 7
0x0000
RWwn + 8
0x0000
RWwn + 9
0x0000
RWwn + 10
0x0000
RWwn + 11
0x0000
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x0000
RWrn + 5
0x0000
RWrn + 6
0x0000
RWrn + 7
0x0000
RWrn + 8
0x0000
RWrn + 9
0x0000
RWrn + 10
0x0000
RWrn + 11
0x0000
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
Command
Address
Contents
Command code
Value
Addition
0x0205
Subtraction
0x0209
Multiplication
0x020D
Division
RWwn + 1
0x0211
Not used
0x0000
RWwn + 2
0xssss
RWwn + 3
Not used
0x0000
RWwn + 4
0xssss
RWwn + 5
Not used
0x0000
to
RWwn + 15
ssss
Variable number
Real variable
Variable number
SGI0
0 (=0x0000)
SGR0
256 (=0x0100)
SGI1
1 (=0x0001)
SGR1
257 (=0x0101)
SGI31
31 (=0x001F)
SGR31
287 (=0x011F)
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
to
RWrn + 15
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
A-147
RWwn
Example:
A-148
Address
Value
RWwn
0x020D
RWwn + 1
0x0000
RWwn + 2
0x0001
RWwn + 3
0x0000
RWwn + 4
0x0002
RWwn + 5
0x0000
RWwn + 6
0x0000
RWwn + 7
0x0000
RWwn + 8
0x0000
RWwn + 9
0x0000
RWwn + 10
0x0000
RWwn + 11
0x0000
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x0000
RWrn + 5
0x0000
RWrn + 6
0x0000
RWrn + 7
0x0000
RWrn + 8
0x0000
RWrn + 9
0x0000
RWrn + 10
0x0000
RWrn + 11
0x0000
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
Command
Address
RWwn
Value
Command code
0x0214
Not used
0x0000
RWwn + 2
Variable number
0xssss
RWwn + 3
Not used
0x0000
to
RWwn + 15
ssss
Variable number
Real variable
Variable number
SGI0
0 (=0x0000)
SGR0
256 (=0x0100)
SGI1
1 (=0x0001)
SGR1
257 (=0x0101)
SGI31
31 (=0x001F)
SGR31
287 (=0x011F)
Status
Normal end
Address
RWrn
Contents
Value
Status code
0x0200
RWrn + 1
Not used
0x0000
RWrn + 2
Variable number
0xssss
RWrn + 3
Not used
0x0000
RWrn + 4
Value of variable
0xbbbbbbbb
RWrn + 5
RWrn + 6
Not used
0x0000
to
RWrn + 15
ssss
bbbbbbbb
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
A-149
A
Remote command guide
RWwn + 1
Contents
Example:
Address
Value
RWwn
0x0214
RWwn + 1
0x0000
RWwn + 2
0x0005
RWwn + 3
0x0000
RWwn + 4
0x0000
RWwn + 5
0x0000
RWwn + 6
0x0000
RWwn + 7
0x0000
RWwn + 8
0x0000
RWwn + 9
0x0000
RWwn + 10
0x0000
RWwn + 11
0x0000
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Address
Value
RWrn
0x0200
Variable number
=5
RWrn + 1
0x0000
Value
= 50
RWrn + 2
0x0005
RWrn + 3
0x0000
RWrn + 4
0x0032
RWrn + 5
0x0000
RWrn + 6
0x0000
RWrn + 7
0x0000
RWrn + 8
0x0000
RWrn + 9
0x0000
RWrn + 10
0x0000
RWrn + 11
0x0000
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
A
Remote command guide
A-150
444444
Parameter-related command
Assignment range
1 (=0x0001)
0 to maximum payload
Parameter number
Assignment range
ACCEL
Acceleration coefficient
257 (=0x0101)
1 to 100
DECEL
Deceleration ratio
258 (=0x0102)
1 to 100
TOLE
Tolerance (pulses)
259 (=0x0103)
1 to 16384
OUTPOS
260 (=0x0104)
1 to 9999999
AXWGHT
262 (=0x0106)
0 to maximum payload
ARCHP1
264 (=0x0108)
1 to 9999999
ARCHP2
265 (=0x0109)
1 to 9999999
PSHFRC
Push force
266 (=0x010A)
-1000 to 1000
PSHTIME
Push time-period
267 (=0x010B)
1 to 32767
PSHMTD
Push method
268 (=0x010C)
0: DISABLE, 1: ENABLE
PSHJGSP
269 (=0x010D)
0: DISABLE, 1 to 100
PSHSPD
270 (=0x010E)
1 to 100
Command
Address
RWwn
Contents
Command code
bit 11 bit 0
Robot designation
bit 15 bit 12
RWwn + 1
Not used
RWwn + 2
Parameter number
RWwn + 3
Specified axis
RWwn + 4
Value
0xR220
Robot number
0x0000
0xssss
bit 0
Axis 1
bit 1
Axis 2
bit 2
Axis 3
bit 3
Axis 4
bit 4
Axis 5
bit 5
Axis 6
bit 15 bit 6
(0: Fixed)
Numerical data
0x00tt
0xbbbbbbbb
RWwn + 5
RWwn + 6
Not used
0x0000
to
RWwn + 15
ssss
tt
bbbbbbbb
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
to
RWrn + 15
A-151
WEIGHT
Abnormal end
Address
Contents
RWrn
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
Example:
Use this command as shown at right, to assign a
numerical value to the tolerance for Axis 3 of the
Robot 1.
Parameter number = 259
Specified axis
RWwn + 3
0x0004
RWwn + 4
0x03E8
RWwn + 5
0x0000
RWwn + 6
0x0000
RWwn + 7
0x0000
RWwn + 8
0x0000
RWwn + 9
0x0000
RWwn + 10
0x0000
RWwn + 11
0x0000
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Numerical data
=3
= 1000
Address
Value
RWwn
0x0220
RWwn + 1
0x0000
RWwn + 2
0x0103
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x0000
to
RWrn + 15
A-152
Parameter number
Reference range
1 (=0x0001)
0 to maximum payload
Parameter number
Reference range
Acceleration coefficient
257 (=0x0101)
1 to 100
Deceleration ratio
258 (=0x0102)
1 to 100
TOLE
Tolerance (pulses)
259 (=0x0103)
1 to 16384
OUTPOS
260 (=0x0104)
1 to 9999999
0 to maximum payload
AXWGHT
262 (=0x0106)
ARCHP1
264 (=0x0108)
1 to 9999999
ARCHP2
265 (=0x0109)
1 to 9999999
PSHFRC
Push force
266 (=0x010A)
-1000 to 1000
PSHTIME
Push time-period
267 (=0x010B)
1 to 32767
PSHMTD
Push method
268 (=0x010C)
0: DISABLE, 1: ENABLE
PSHJGSP
269 (=0x010D)
0: DISABLE, 1 to 100
PSHSPD
270 (=0x010E)
1 to 100
Command
Address
RWwn
Contents
Command code
bit 11 bit 0
Robot designation
bit 15 bit 12
RWwn + 1
Not used
RWwn + 2
Parameter number
RWwn + 3
Specified axis
RWwn + 4
Value
0xR224
Robot number
0x0000
0xssss
bit 0
Axis 1
bit 1
Axis 2
bit 2
Axis 3
bit 3
Axis 4
bit 4
Axis 5
bit 5
Axis 6
bit 15 bit 6
(0: Fixed)
Not used
0x00tt
0x0000
to
RWwn + 15
ssss
tt
A-153
ACCEL
DECEL
Status
Normal end
Address
RWrn
Contents
Value
Status code
0x0200
RWrn + 1
Not used
0x0000
RWrn + 2
Parameter number
RWrn + 3
Specified axis
RWrn + 4
0xssss
bit 0
Axis 1
bit 1
Axis 2
bit 2
Axis 3
bit 3
Axis 4
bit 4
Axis 5
bit 5
Axis 6
bit 15 bit 6
(0: Fixed)
Numerical data
0x00tt
0xbbbbbbbb
RWrn + 5
RWrn + 6
Not used
0x0000
to
RWrn + 15
ssss
tt
bbbbbbbb
Abnormal end
Address
RWrn
Contents
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
A-154
Value
Status code
aaaa
bbbb
Example:
Value
RWwn
0x0224
RWwn + 1
0x0000
RWwn + 2
0x0104
RWwn + 3
0x0001
RWwn + 4
0x0000
RWwn + 5
0x0000
RWwn + 6
0x0000
RWwn + 7
0x0000
RWwn + 8
0x0000
RWwn + 9
0x0000
RWwn + 10
0x0000
RWwn + 11
0x0000
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Address
Value
RWrn
0x0200
Parameter number
= 260
RWrn + 1
0x0000
Specified axis
=1
RWrn + 2
0x0104
= 131071
RWrn + 3
0x0001
RWrn + 4
0xFFFF
RWrn + 5
0x0001
RWrn + 6
0x0000
RWrn + 7
0x0000
RWrn + 8
0x0000
RWrn + 9
0x0000
RWrn + 10
0x0000
RWrn + 11
0x0000
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
Parameter number
= 260
=1
Specified axis
Numerical data
A-155
A
Remote command guide
Address
444444
Point-related command
Command
This command assigns a numerical value to a specified parameter by specifying the parameter number, axis
and numerical value.
Point number 1 = Point number 2
Address
RWwn
RWwn + 1
Contents
Value
Command code
0x0230
Not used
0x0000
RWwn + 2
0xssss
RWwn + 3
0xssss
RWwn + 4
Not used
0x0000
to
RWwn + 15
ssss
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
to
RWrn + 15
Abnormal end
Address
RWrn
Contents
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
A-156
Value
aaaa
bbbb
Example:
Use this command as shown at right, to assign a point
to the specified point.
Point number 1 = 1
Point number 2 = 100
Value
RWwn
0x0230
RWwn + 1
0x0000
RWwn + 2
0x0001
RWwn + 3
0x0064
RWwn + 4
0x0000
RWwn + 5
0x0000
RWwn + 6
0x0000
RWwn + 7
0x0000
RWwn + 8
0x0000
RWwn + 9
0x0000
RWwn + 10
0x0000
RWwn + 11
0x0000
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x0000
RWrn + 5
0x0000
RWrn + 6
0x0000
RWrn + 7
0x0000
RWrn + 8
0x0000
RWrn + 9
0x0000
RWrn + 10
0x0000
RWrn + 11
0x0000
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
A-157
A
Remote command guide
Address
Point addition/subtraction
This command adds and subtracts points by specifying point number 1 and point number 2.
Point number 1 = Point number 1 (operator) point number 2
Command
Address
RWwn
Contents
Command code
Value
Addition
Subtraction
RWwn + 1
Not used
0x0234
0x0235
0x0000
RWwn + 2
0xssss
RWwn + 3
0xssss
RWwn + 4
Not used
0x0000
to
RWwn + 15
ssss
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
to
RWrn + 15
Abnormal end
Address
RWrn
Contents
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
A-158
Value
Status code
aaaa
bbbb
Example:
Use the point addition command as shown at right, to
add point number 2 to point number 1.
Point number 1 = 1
Point number 2 = 100
Value
RWwn
0x0234
RWwn + 1
0x0000
RWwn + 2
0x0001
RWwn + 3
0x0064
RWwn + 4
0x0000
RWwn + 5
0x0000
RWwn + 6
0x0000
RWwn + 7
0x0000
RWwn + 8
0x0000
RWwn + 9
0x0000
RWwn + 10
0x0000
RWwn + 11
0x0000
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x0000
RWrn + 5
0x0000
RWrn + 6
0x0000
RWrn + 7
0x0000
RWrn + 8
0x0000
RWrn + 9
0x0000
RWrn + 10
0x0000
RWrn + 11
0x0000
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
A-159
A
Remote command guide
Address
This command assigns a pallet point to the destination point number by specifying a pallet number and work
position number.
Pallet point number = Pallet point (pallet number, work position number)
NOTE
The target pallet must be defined.
The maximum value of work position number is determined by the target pallet definition.
Command
Address
RWwn
Contents
Value
Command code
0x0238
RWwn + 1
Not used
0x0000
RWwn + 2
0xssss
RWwn + 3
Pallet number
0xaaaa
RWwn + 4
0xbbbb
RWwn + 5
Not used
0x0000
to
RWwn + 15
ssss
aaaa
bbbb
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
to
RWrn + 15
Abnormal end
Address
RWrn
Contents
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
A-160
Value
Status code
aaaa
bbbb
Example:
Use this command as shown at right, to assign a pallet
point to the following point.
Point number = 100
Pallet number = 2
Work position number = 133
Value
RWwn
0x0238
RWwn + 1
0x0000
RWwn + 2
0x0064
RWwn + 3
0x0002
RWwn + 4
0x0085
RWwn + 5
0x0000
RWwn + 6
0x0000
RWwn + 7
0x0000
RWwn + 8
0x0000
RWwn + 9
0x0000
RWwn + 10
0x0000
RWwn + 11
0x0000
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x0000
RWrn + 5
0x0000
RWrn + 6
0x0000
RWrn + 7
0x0000
RWrn + 8
0x0000
RWrn + 9
0x0000
RWrn + 10
0x0000
RWrn + 11
0x0000
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
A-161
A
Remote command guide
Address
444444
NOTE
When 1000 is specified in the "pulse" units input format as a numerical value, 1000 is assigned.
When 1000 is specified in the "millimeter" units input format as a numerical value, 1.000 is assigned.
Use the proper input format according to the point data format of the assignment destination.
Command
Address
RWwn
Contents
Command code
Value
"Pulse" units input format
0x0240
0x0241
RWwn + 1
Not used
RWwn + 2
0xssss
RWwn + 3
Data number
designation
0x00tt
RWwn + 4
0x0000
bit 0
Data 1
bit 1
Data 2
bit 2
Data 3
bit 3
Data 4
bit 4
Data 5
bit 5
Data 6
bit 15 bit 6
(0: Fixed)
Numerical value
0xbbbbbbbb
RWwn + 5
RWwn + 6
Not used
0x0000
to
RWwn + 15
ssss
tt
bbbbbbbb
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
to
RWrn + 15
Abnormal end
Address
RWrn
Contents
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
A-162
Value
Status code
aaaa
bbbb
Example:
Address
Value
RWwn
0x0241
RWwn + 1
0x0000
RWwn + 2
0x0001
Point number
=1
RWwn + 3
0x0008
RWwn + 4
0x03E8
RWwn + 5
0x0000
RWwn + 6
0x0000
RWwn + 7
0x0000
RWwn + 8
0x0000
RWwn + 9
0x0000
RWwn + 10
0x0000
RWwn + 11
0x0000
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Numerical value
= 1.000
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x0000
RWrn + 5
0x0000
RWrn + 6
0x0000
RWrn + 7
0x0000
RWrn + 8
0x0000
RWrn + 9
0x0000
RWrn + 10
0x0000
RWrn + 11
0x0000
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
A-163
A
Remote command guide
This command assigns a numerical value to a shift element by specifying the shift number, data number and
numerical value.
LOC [data number] (shift number) = numerical value
Command
Address
RWwn
Contents
Value
Command code
0x0245
RWwn + 1
Not used
0x0000
RWwn + 2
0xssss
RWwn + 3
Data number
designation
0x00tt
RWwn + 4
bit 0
Data 1
bit 1
Data 2
bit 2
Data 3
bit 3
Data 4
bit 15 bit 4
(0: Fixed)
Numerical value
0xbbbbbbbb
RWwn + 5
RWwn + 6
Not used
0x0000
to
RWwn + 15
ssss
tt
bbbbbbbb
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
to
RWrn + 15
Abnormal end
Address
RWrn
Contents
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
A-164
Value
Status code
aaaa
bbbb
Example:
Address
Value
RWwn
0x0245
RWwn + 1
0x0000
RWwn + 2
0x0001
Shift number
=1
RWwn + 3
0x0002
RWwn + 4
0x03E8
RWwn + 5
0x0000
RWwn + 6
0x0000
RWwn + 7
0x0000
RWwn + 8
0x0000
RWwn + 9
0x0000
RWwn + 10
0x0000
RWwn + 11
0x0000
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Numerical value
= 1.000
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x0000
RWrn + 5
0x0000
RWrn + 6
0x0000
RWrn + 7
0x0000
RWrn + 8
0x0000
RWrn + 9
0x0000
RWrn + 10
0x0000
RWrn + 11
0x0000
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
A-165
A
Remote command guide
4444
Category 4 remote commands are I/O port commands. A command list is given below.
No.
4-1
Command contents
I/O port command
Assignment
port units
0x0300
Assignment
bit units
0x0301
Reference
port units
0x0304
A-166
444444
Use these commands to assign a value to an I/O port or obtain the contents of a specified I/O port.
Command
RWwn
Contents
Command code
RWwn + 1
Not used
RWwn + 2
Port number
Value
Port units
0x0300
Bit units
0x0301
0x0000
bit 3 bit 0
Bit number
bit 7 bit 4
g
r
bit 11 bit 8
bit 15 bit 12
RWwn + 3
0x00bb
RWwn + 4
Not used
0x0000
to
RWwn + 15
r, q
bb
Bit pattern
DO
0001
2 to 7,10 to 17,20 to 27
MO
0010
2 to 7,10 to 17,20 to 27
LO
0011
0 to 1
TO
0100
SO
0110
2 to 7,10 to 17,20 to 27
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
to
RWrn + 15
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
A-167
Address
Example:
= DO12 ()
Numerical data = 7
Address
Value
RWwn
0x0300
RWwn + 1
0x0000
RWwn + 2
0x1120
RWwn + 3
0x0007
RWwn + 4
0x0000
to
RWwn + 15
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
to
RWrn + 15
Example:
Use this command as shown at right, to output a
numerical value to the following output port.
Output port
= DO (21)
Numerical data = 1
Address
Value
RWwn
0x0301
RWwn + 1
0x0000
RWwn + 2
0x1021
RWwn + 3
0x0001
RWwn + 4
0x0000
to
RWwn + 15
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
to
RWrn + 15
A-168
Command
Address
RWwn
Contents
Command code
Not used
Port number
RWwn + 3
0x0304
0x0000
bit 3 bit 0
(0: Fixed)
bit 7 bit 4
0
r
bit 11 bit 8
bit 15 bit 12
Not used
RWwn + 1
RWwn + 2
Value
Port units
p
0x0000
to
RWwn + 15
r, q
Bit pattern
DI
0000
0 to 7,10 to 17,20 to 27
DO
0001
0 to 7,10 to 17,20 to 27
MO
0010
0 to 7,10 to 17,20 to 27
LO
0011
0 to 1
TO
0100
SI
0101
0 to 7,10 to 17,20 to 27
SO
0110
0 to 7,10 to 17,20 to 27
Status
Normal end
Address
RWrn
Contents
Value
Status code
RWrn + 1
Not used
RWrn + 2
Port number
0x0200
0x0000
bit 3 bit 0
Not used
bit 7 bit 4
0
r
bit 11 bit 8
bit 15 bit 12
RWrn + 3
Bit pattern
0x00bb
RWrn + 4
Not used
0x0000
to
RWrn + 15
r, q
bb
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
A-169
Example:
Address
Value
RWwn
0x0304
RWwn + 1
0x0000
RWwn + 2
0x1120
RWwn + 3
0x0000
to
RWwn + 15
Address
Value
RWrn
0x0200
Output port
RWrn + 1
0x0000
RWrn + 2
0x1120
RWrn + 3
0x0007
RWrn + 4
0x0000
= DO12 ()
Numerical data = 7
to
RWrn + 15
Example:
Address
Value
RWwn
0x0304
RWwn + 1
0x0000
RWwn + 2
0x0020
RWwn + 3
0x0000
= DI2 ()
to
n + 30
Address
Value
RWrn
0x0200
Input port
RWrn + 1
0x0000
= DI2 ()
RWrn + 2
0x0020
RWrn + 3
0x007F
RWrn + 4
0x0000
to
RWrn + 15
A-170
4444
Category 5 remote commands are program operation setting commands. A command list is given below.
No.
Command contents
5-1
5-2
Program execution
0x0403
0x0404
0x0405
5-3
Program reset
0x0406
5-4
0x0408
* Check the robot program running status output signal (SO13) to verify a program execution command has been run.
* Check the program reset status output signal (SO14) to verify the program reset command has been run.
A-171
A
Remote command guide
Program execution
444444
Command
Address
Contents
RWwn
Command code
RWwn + 1
Command flag
RWwn + 2
Program number
RWwn + 3
RWwn + 4
Value
0x0401
bit 2 bit 0
bit 15 bit 3
(0: Fixed)
sss
0
0xnnnn
0xtttt
0xpppp
RWwn + 5
Not used
0x00000
RWwn + 6
Program name
0xbbbb
Not used
0x0000
to
RWwn + 13
RWwn + 14
RWwn + 15
sss
Meaning
001
Program number
100
Program name
Other
nnnn
tttt
: Specifies (by 16 bits) the task number where the program is registered.
If "0" is specified as the task number, the program is registered at the lowest vacant task number.
0 (=0x0000) to 16 (=0x0010)
pppp
bb
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
to
RWrn + 15
Abnormal end
Address
RWrn
Contents
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
A-172
Value
Status code
aaaa
bbbb
Example:
Use this command as shown at right, to specify
program number 1, task number 1, and a priority
ranking of 47.
Value
RWwn
0x0401
RWwn + 1
0x0001
RWwn + 2
0x0001
RWwn + 3
0x0001
RWwn + 4
0x002F
RWwn + 5
0x0000
RWwn + 6
0x0000
RWwn + 7
0x0000
RWwn + 8
0x0000
RWwn + 9
0x0000
RWwn + 10
0x0000
RWwn + 11
0x0000
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x0000
to
RWrn + 15
A-173
A
Remote command guide
Address
444444
Program execution
Command
Meaning
Program execution
Starts automatic operation of a robot program. Performs the same processing as the RUN key on
the programming box and auto operation start input (SI12). Use the program in-progress status
output signal (SO13) to verify the program is in progress.
Executes one line in the robot program. Enters the subroutine when a GOSUB statement is used.
Performs the same processing as STEP execution which is performed from the programming box.
Skips one line in the program. Performs the same processing as SKIP execution which is performed
from the programming box.
Executes one line in the robot program. Executes the entire subroutine when a GOSUB statement
is used. Performs the same processing as NEXT execution which is performed from the
programming box.
Command
Address
RWwn
Contents
Command code
RWwn + 1
RWwn + 2
Command flag
Value
Program execution
0x0402
0x0403
0x0404
0x0405
bit 2 bit 0
bit 15 bit 3
(0: Fixed)
Program number
sss
0
0xnnnn
RWwn + 3
RWwn + 4
Not used
0x0000
0xtttt
Program name
0xbbbb
Not used
0x0000
RWwn + 5
RWwn + 6
to
RWwn + 13
RWwn + 14
RWwn + 15
sss
Meaning
000
001
Program number
010
100
Program name
Other
nnnn
tttt
: Specifies (by 16 bits) the task number which operates the program.
1 (=0x0001) to 16 (=0x0010)
bb
Status
Normal end
Address
RWrn
RWrn + 1
to
RWrn + 15
A-174
Contents
Value
Status code
0x0200
Not used
0x0000
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
aaaa
bbbb
Example:
Use these commands to execute Program 1 as Task 1
as shown at right.
Address
Value
RWwn
0x0402
RWwn + 1
0x0001
RWwn + 2
0x0001
RWwn + 3
0x0000
RWwn + 4
0x0000
RWwn + 5
0x0000
RWwn + 6
0x0000
RWwn + 7
0x0000
RWwn + 8
0x0000
RWwn + 9
0x0000
RWwn + 10
0x0000
RWwn + 11
0x0000
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x0000
to
RWrn + 15
A-175
RWrn + 15
444444
Program reset
Command
Address
Contents
RWwn
Command code
RWwn + 1
Command flag
Value
0x0406
bit 2 bit 0
bit 15 bit 3
(0: Fixed)
sss
0
RWwn + 2
Program number
RWwn + 3
0xnnnn
RWwn + 4
Not used
0x0000
Program name
0xbbbb
Not used
0x0000
0xtttt
RWwn + 5
RWwn + 6
to
RWwn + 13
RWwn + 14
RWwn + 15
sss
Meaning
000
001
Program number
010
100
Program name
Other
nnnn
tttt
: Specifies (by 16 bits) the task number which resets the program.
1 (=0x0001) to 16 (=0x0010)
bb
Status
Normal end
Address
RWrn
RWrn + 1
to
RWrn + 15
A-176
Contents
Value
Status code
0x0200
Not used
0x0000
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
aaaa
bbbb
Example:
Use this command to reset the program named
"ABC_DE" as shown at right.
Address
Value
RWwn
0x0406
RWwn + 1
0x0100
RWwn + 2
0x0000
RWwn + 3
0x0000
RWwn + 4
0x0000
RWwn + 5
0x0000
RWwn + 6
0x4241
RWwn + 7
0x5F43
RWwn + 8
0x4544
RWwn + 9
0x0000
RWwn + 10
0x0000
RWwn + 11
0x0000
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x0000
to
RWrn + 15
A-177
RWrn + 15
444444
Execute this command to acquire information on program execution, when the robot program is stopped.
Command
Address
Contents
RWwn
Command code
RWwn + 1
Command flag
Value
0x0408
bit 2 bit 0
bit 15 bit 3
(0: Fixed)
sss
0
RWwn + 2
Program number
RWwn + 3
0xnnnn
RWwn + 4
Not used
0x0000
Program name
0xbbbb
Not used
0x0000
0xtttt
RWwn + 5
RWwn + 6
to
RWwn + 13
RWwn + 14
RWwn + 15
sss
Meaning
001
Program number
010
100
Program name
Other
nnnn
tttt
bb
Status
Normal end
Address
RWrn
Contents
Value
Status code
0x0200
RWrn + 1
Not used
0x0000
RWrn + 2
Program number
0xpppp
RWrn + 3
RWrn + 4
RWrn + 5
0xpppp
RWrn + 6
Program name
0xbbbb
Not used
0x0000
0xtttt
0xllll
to
RWrn + 13
RWrn + 14
RWrn + 15
A-178
pppp
tttt
llll
: Indicates the current program's execution line number (1~). A value + 10000 is shown when
COMMON program is running.
pppp
bb
Abnormal end
Address
Contents
RWrn
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
aaaa
bbbb
Example:
Use this command to acquire program execution
information as shown at right.
Address
Value
RWwn
0x0408
RWwn + 1
0x0001
RWwn + 2
0x0001
RWwn + 3
0x0000
RWwn + 4
0x0000
RWwn + 5
0x0000
RWwn + 6
0x0000
RWwn + 7
0x0000
RWwn + 8
0x0000
RWwn + 9
0x0000
RWwn + 10
0x0000
RWwn + 11
0x0000
RWwn + 12
0x0000
RWwn + 13
0x0000
RWwn + 14
0x0000
RWwn + 15
0x0000
Address
Value
RWrn
0x0200
Program number
=1
RWrn + 1
0x0000
Program name
= "ABCDEFGH"
RWrn + 2
0x0001
Task number
=2
RWrn + 3
0x0002
Execution number
= 101
RWrn + 4
0x0065
RWrn + 5
0x0020
RWrn + 6
0x4241
RWrn + 7
0x4443
RWrn + 8
0x4645
RWrn + 9
0x4847
RWrn + 10
0x0000
RWrn + 11
0x0000
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
Task priority
= 32
A-179
RWrn + 15
4444
Command contents
6-1
0x0501
6-2
0xR502
6-3
0xR503
6-4
Pulse units
0xR505
Millimeter units
0xR506
6-5
0x0507
6-6
0x0508
6-7
Message reference
0x0509
6-8
0xR50A
6-9
0xR50B
6-10
0xR50C
6-11
0xR50F
6-12
0xR510
6-13
0x0511
6-14
0x0512
6-15
0x0513
6-16
0xR514
6-17
0x0515
6-18
0x0516
A-180
444444
Command
Address
RWwn
RWwn + 1
Contents
Value
Command code
0x0501
Not used
0x0000
RWwn + 15
Status
Normal end
Address
RWrn
Contents
Value
Status code
0x0200
RWrn + 1
Not used
0x0000
RWrn + 2
0xaabb
RWrn + 3
0xcccc
RWrn + 4
0xdddd
RWrn + 5
0xeeff
RWrn + 6
0xeeff
0xeeff
RWrn + 7
RWrn + 8
0xeeff
RWrn + 9
Not used
0x0000
to
RWrn + 15
aabb
: Shows the controller's host software version in upper 8 bits and lower 8 bits.
cccc
dddd
eeff
: Shows the controller's driver software version in uper 8 bits and lower 8 bits.
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
Example:
Use this command to obtain a software version as
shown at right.
Address
Value
RWwn
0x0501
RWwn + 1
0x0000
to
RWwn + 15
A-181
to
A
Remote command guide
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0108
RWrn + 3
0x0030
RWrn + 4
0x1001
RWrn + 5
0x0101
RWrn + 6
0x0101
: V1.01
: V1.01
: V1.01
RWrn + 7
0x0101
: V1.01
RWrn + 8
0x0101
RWrn + 9
0x0000
RWrn + 10
0x0000
RWrn + 11
0x0000
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
A-182
444444
Command
Address
RWwn
bit 11 bit 0
Robot designation
bit 15 bit 12
Value
Robot number
Not used
0x0000
to
RWwn + 15
Status
Normal end
Address
RWrn
Contents
Value
Status code
0x0200
RWrn + 1
Not used
0x0000
RWrn + 2
Robot number
0xaaaa
RWrn + 3
Not used
0x0000
RWrn + 4
0xaaaa
RWrn + 5
0xaaaa
RWrn + 6
0xaaaa
RWrn + 7
0xaaaa
RWrn + 8
0xaaaa
RWrn + 9
0xaaaa
RWrn + 10
Not used
0x0000
to
RWrn + 15
aaaa
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
Example:
Use the system configuration reference command as
shown at right, to obtain the configuration of the Robot
1.
0xR502
Address
Value
RWwn
0x0502
RWwn + 1
0x0000
to
RWwn + 15
A-183
RWwn + 1
Contents
Command code
Address
Value
RWrn
0x0200
Robot number
: 2000 (YK250X)
RWrn + 1
0x0000
RWrn + 2
0x07D0
RWrn + 3
0x0000
RWrn + 4
0x07D0
RWrn + 5
0x07D0
RWrn + 6
0x07D0
RWrn + 7
0x07D0
RWrn + 8
0x0000
RWrn + 9
0x0000
RWrn + 10
0x0000
RWrn + 11
0x0000
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
A-184
444444
Command
Address
RWwn
bit 11 bit 0
Robot designation
bit 15 bit 12
Value
Robot number
Not used
0x0000
to
RWwn + 15
Status
Normal end
Address
RWrn
Contents
Value
Status code
0x0200
RWrn + 1
Not used
0x0000
RWrn + 2
Axis-1 information
0xaaaa
RWrn + 3
Axis-2 information
0xaaaa
RWrn + 4
Axis-3 information
0xaaaa
RWrn + 5
Axis-4 information
0xaaaa
RWrn + 6
Axis-5 information
0xaaaa
RWrn + 7
Axis-6 information
0xaaaa
RWrn + 8
Not used
0x0000
to
RWrn + 15
aaaa
Contents
(Brake)
Servo ON
(Servo)
No axis
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
Example:
Use this command to acquire a servo status as shown
at right.
0xR503
Address
Value
RWwn
0x0503
RWwn + 1
0x0000
to
RWwn + 15
A-185
RWwn + 1
Contents
Command code
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0001
RWrn + 3
0x0001
RWrn + 4
0x0002
RWrn + 5
0x0001
RWrn + 6
0x0009
RWrn + 7
0x0009
RWrn + 8
0x0000
RWrn + 9
0x0000
RWrn + 10
0x0000
RWrn + 11
0x0000
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
A-186
444444
Use this command to obtain the robot current position data in pulse units.
Command
Address
RWwn + 1
RWwn + 2
Contents
Command code
bit 11 bit 0
Robot designation
bit 15 bit 12
Command flag
Value
0xR505
Robot number
bit 0
bit15 bit 1
Not used
Not used
0x0000
to
RWwn + 15
Meaning
DISABLE
ENABLE
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
RWrn + 2
RWrn + 3
RWrn + 4
Axis-1 data
0xbbbbbbbb
Axis-2 data
0xbbbbbbbb
Axis-3 data
0xbbbbbbbb
Axis-4 data
0xbbbbbbbb
Axis-5 data
0xbbbbbbbb
Axis-6 data
0xbbbbbbbb
RWrn + 5
RWrn + 6
RWrn + 7
RWrn + 8
RWrn + 9
RWrn + 10
RWrn + 11
RWrn + 12
RWrn + 13
RWrn + 14
RWrn + 15
bbbbbbbb
A-187
RWwn
Contents
RWrn
RWrn + 1
Value
Status code
0x0100
Not used
0x0000
RWrn + 2
RWrn + 3
RWrn + 4
Axis-1 data
0xbbbbbbbb
Axis-2 data
0xbbbbbbbb
Axis-3 data
0xbbbbbbbb
Axis-4 data
0xbbbbbbbb
Axis-5 data
0xbbbbbbbb
Axis-6 data
0xbbbbbbbb
RWrn + 5
RWrn + 6
RWrn + 7
RWrn + 8
RWrn + 9
RWrn + 10
RWrn + 11
RWrn + 12
RWrn + 13
RWrn + 14
RWrn + 15
bbbbbbbb
Abnormal end
Address
Contents
RWrn
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
Example:
Use this command as shown at right, to obtain the
Robot 1 current position data in pulse units
designation.
Address
Value
RWwn
0x0505
RWwn + 1
0x0000
to
RWwn + 15
Address
Value
RWrn
0x0200
Axis 1
= 20001
RWrn + 1
0x0000
Axis 3
= -12345
RWrn + 2
0x0000
Other axes = 0
A-188
RWrn + 3
0x0000
RWrn + 4
0x4E21
RWrn + 5
0x0000
RWrn + 6
0x0000
RWrn + 7
0x0000
RWrn + 8
0xCFC7
RWrn + 9
0xFFFF
RWrn + 10
0x0000
RWrn + 11
0x0000
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
Command
Address
Contents
bit 11 bit 0
0xR506
Robot designation
bit 15 bit 12
Robot number
RWwn + 1
Command flag
bit 0
bit 15 bit 1
Not used
Not used
0x0000
to
RWwn + 15
Meaning
DISABLE
ENABLE
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
RWrn + 2
RWrn + 3
RWrn + 4
Point flag
bit 0
Not used
bit 2 bit 1
Hand system
tt
bit 6 bit 3
xr
bit 10 bit 7
yr
bit 15 bit 11
Not used
Axis-1 data
0xbbbbbbbb
Axis-2 data
0xbbbbbbbb
Axis-3 data
0xbbbbbbbb
Axis-4 data
0xbbbbbbbb
Axis-5 data
0xbbbbbbbb
Axis-6 data
0xbbbbbbbb
RWrn + 5
RWrn + 6
RWrn + 7
RWrn + 8
RWrn + 9
RWrn + 10
RWrn + 11
RWrn + 12
RWrn + 13
RWrn + 14
RWrn + 15
tt
xr / yr
bbbbbbbb
Meaning
01
Right-handed is specified.
10
Left-handed is specified.
: Shows in 4 bits the current position's Arm 1 and Arm 2 rotation information.
These items are available only on YK500TW model SCARA robots.
Value
Meaning
0000
0001
1111
(*1)
A-189
Command code
RWwn + 2
Value
RWwn
RWrn + 1
Contents
Value
Status code
0x0100
Not used
0x0000
RWrn + 2
RWrn + 3
RWrn + 4
Point flag
bit 0
Not used
bit 2 bit 1
Hand system
tt
bit 6 bit 3
xr
bit 10 bit 7
yr
bit 15 bit 11
Not used
Axis-1 data
0xbbbbbbbb
Axis-2 data
0xbbbbbbbb
Axis-3 data
0xbbbbbbbb
Axis-4 data
0xbbbbbbbb
Axis-5 data
0xbbbbbbbb
Axis-6 data
0xbbbbbbbb
RWrn + 5
RWrn + 6
RWrn + 7
RWrn + 8
RWrn + 9
RWrn + 10
RWrn + 11
RWrn + 12
RWrn + 13
RWrn + 14
RWrn + 15
tt
xr / yr
bbbbbbbb
Value
Meaning
01
Right-handed is specified.
10
Left-handed is specified.
: Shows in 4 bits the current position's Arm 1 and Arm 2 rotation information.
These items are available only on YK500TW model SCARA robots.
Value
Meaning
0000
0001
1111
(*1)
CAUTION
(*1) For details, refer to the "Point Data Display / Editing" section of the "Operators Manual for YAMAHAs RCX240
4-axis robot controller".
Abnormal end
Address
RWrn
Contents
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
A-190
Value
aaaa
bbbb
Example:
Use this command as shown at right, to obtain the
Robot 1 current position data in millimeter units.
Address
Value
RWwn
0x0506
RWwn + 1
0x0000
to
RWwn + 15
Axis 1
= 20.001
Axis 3
= -12.345
RWrn + 3
0x0001
RWrn + 4
0x4E21
RWrn + 5
0x0000
RWrn + 6
0x0000
RWrn + 7
0x0000
RWrn + 8
0xCFC7
RWrn + 9
0xFFFF
RWrn + 10
0x0000
RWrn + 11
0x0000
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
A-191
444444
Command
Address
RWwn
Contents
Command code
Value
0x0507
RWwn + 1
Not used
0x0000
RWwn + 2
0xaaaa
RWwn + 3
Not used
0x0000
to
RWwn + 15
aaaa
Meaning
Tasks 1 to 8
Tasks 9 to 16
Status
Normal end
Address
RWrn
Contents
Value
Status code
0x0200
RWrn + 1
Not used
0x0000
RWrn + 2
0xaaaa
RWrn + 3
0xaaaa
RWrn + 4
0xaaaa
RWrn + 5
0xaaaa
RWrn + 6
0xaaaa
RWrn + 7
0xaaaa
RWrn + 8
0xaaaa
RWrn + 9
0xaaaa
RWrn + 10
Not used
0x0000
to
RWrn + 15
aaaa
Meaning
Stop status
Execution status
Suspend status
Standby status
No task
Abnormal end
Address
RWrn
Contents
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
A-192
Value
Status code
aaaa
bbbb
Example:
Use this command as shown at right, to obtain the
execution status of tasks 1~8.
Address
Value
RWwn
0x0507
RWwn + 1
0x0000
to
RWwn + 15
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0001
RWrn + 3
0x0001
RWrn + 4
0x0009
RWrn + 5
0x0009
RWrn + 6
0x0002
RWrn + 7
0x0009
RWrn + 8
0x0009
RWrn + 9
0x0009
RWrn + 10
0x0000
RWrn + 11
0x0000
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
A-193
444444
Command
Address
RWwn
Contents
Value
Command code
0x0508
RWwn + 1
Not used
0x0000
RWwn + 2
0xaaaa
RWwn + 3
Not used
0x0000
to
RWwn + 15
aaaa
Meaning
Tasks 1 to 8
Tasks 9 to 16
Status
Normal end
Address
RWrn
Contents
Value
Status code
0x0200
RWrn + 1
Not used
0x0000
RWrn + 2
0xaaaa
RWrn + 3
0xaaaa
RWrn + 4
0xaaaa
RWrn + 5
0xaaaa
RWrn + 6
0xaaaa
RWrn + 7
0xaaaa
RWrn + 8
0xaaaa
RWrn + 9
0xaaaa
RWrn + 10
Not used
0x0000
to
RWrn + 15
aaaa
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
Example:
Use this command as shown at right, to obtain the
execution lines of tasks 1~8.
Address
Value
RWwn
0x0508
RWwn + 1
0x0000
to
RWwn + 15
A-194
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0001
Task 3 : no task
RWrn + 3
0x0013
RWrn + 4
0x0000
RWrn + 5
0x0000
RWrn + 6
0x0063
Task 6 : no task
RWrn + 7
0x0000
Task 7 : no task
RWrn + 8
0x0000
Task 8 : no task
RWrn + 9
0x0000
RWrn + 10
0x0000
RWrn + 11
0x0000
RWrn + 12
0x0000
RWrn + 13
0x0000
RWrn + 14
0x0000
RWrn + 15
0x0000
Task 4 : no task
Task 5 : Execution on 99th line
A-195
A
Remote command guide
444444
Message reference
Command
Address
RWwn
Contents
Command code
Value
0x0509
RWwn + 1
Not used
0x0000
RWwn + 2
0xaaaa
RWwn + 3
Not used
0x0000
to
RWwn + 15
aaaa
Contents
1 to 500
Status
Normal end
Address
RWrn
Contents
0x0200
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Additional information 1
0xccdd
RWrn + 4
Additional information 2
0xeeff
RWrn + 5
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
ccdd
Contents
00
Robot ID
01
Controller ID
02
Task number
dd: number
eeff
Contents
00
From 01
Contents
00
01
Axis number ID
02
Motor number ID
03
04
ff : number
00
From 01
A-196
Value
Status code
Contents
No number
One of the following numbers is used:
Motor number, axis number, option slot number,
program task number
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
aaaa
bbbb
Example:
Use this command as shown at right, to acquire the
10th message in the alarm history.
Address
Value
RWwn
0x0509
RWwn + 1
0x0000
RWwn + 2
0x000A
RWwn + 3
0x0000
to
RWwn + 15
Address
Value
RWrn
0x0200
RWrn + 1
0x000C
RWrn + 2
0x0213
RWrn + 3
0x0101
RWrn + 4
0x0301
RWrn + 5
0x0000
to
RWrn + 15
A-197
RWrn + 15
444444
Command
Address
RWwn
RWwn + 1
Contents
Command code
bit 11 bit 0
Robot designation
bit 15 bit 12
Value
0xR50A
Robot number
Not used
0x0000
to
RWwn + 15
Status
Normal end
Address
RWrn
Contents
Value
Status code
RWrn + 1
Not used
RWrn + 2
0x0200
0x0000
AUTO mode speed
0xaaaa
RWrn + 3
0xaaaa
RWrn + 4
0xaaaa
RWrn + 5
Not used
0x0000
to
RWrn + 15
aaaa
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
Example:
Use the speed status reference command as shown at
right, to acquire the speed status of the Robot 1.
Address
Value
RWwn
0x050A
RWwn + 1
0x0000
to
RWwn + 15
: 50%
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0032
RWrn + 3
0x0032
RWrn + 4
0x0032
RWrn + 5
0x0000
to
RWrn + 15
A-198
444444
Command
Address
RWwn
bit 11 bit 0
Robot designation
bit 15 bit 12
Value
Robot number
Not used
0x0000
to
RWwn + 15
Status
Normal end
Address
RWrn
Contents
Value
Status code
0x0200
RWrn + 1
Not used
0x0000
RWrn + 2
0xaaaa
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
Meaning
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
Example:
Use this command as shown at right, to acquire the
status of Robot 1's currently specified arm.
0xR50B
Address
Value
RWwn
0x050B
RWwn + 1
0x0000
to
RWwn + 15
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0001
RWrn + 3
0x0000
RWrn + 4
0x0000
to
RWrn + 15
A-199
RWwn + 1
Contents
Command code
4444444
Command
Address
RWwn
RWwn + 1
Contents
Command code
bit 11 bit 0
Robot designation
bit 15 bit 12
Value
0xR50C
Robot number
Not used
0x0000
to
RWwn + 15
Status
Normal end
Address
RWrn
Contents
Value
Status code
0x0200
RWrn + 1
Not used
0x0000
RWrn + 2
0xaaaa
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
Meaning
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
Example:
Use this command as shown at right, to acquire the
status of arm.
Address
Value
RWwn
0x050C
RWwn + 1
0x0000
to
RWwn + 15
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0001
RWrn + 3
0x0000
RWrn + 4
0x0000
to
RWrn + 15
A-200
4444444
Command
Address
RWwn
Contents
Command code
bit 11 bit 0
Robot designation
bit 15 bit 12
Not used
RWwn + 2
Robot number
0x0000
bit 2 bit 0
bit 15 bit 3
RWwn + 3
Not used
mmm
0
0x0000
to
RWwn + 15
mmm
Corresponding Axis
001
010
Status
Normal end (When the robot designation is "0")
Address
RWrn
Contents
Value
Status code
0x0200
RWrn + 1
Not used
0x0000
RWrn + 2
0xaaaa
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
Meaning
Return-to-origin incomplete
Return-to-origin complete
Contents
Value
Status code
0x0200
RWrn + 1
Not used
0x0000
RWrn + 2
Axis-1 information
0xaaaa
RWrn + 3
Axis-2 information
0xaaaa
RWrn + 4
Axis-3 information
0xaaaa
RWrn + 5
Axis-4 information
0xaaaa
RWrn + 6
Axis-5 information
0xaaaa
RWrn + 7
Axis-6 information
0xaaaa
RWrn + 8
Not used
0x0000
to
RWrn + 15
aaaa
Meaning
Return-to-origin incomplete
Return-to-origin complete
Not applicable
A-201
RWwn + 1
Value
0xR50F
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
Example:
Use this command to obtain the return-to-origin status
of all the Robot 1 axes as shown at right.
Address
Value
RWwn
0x150F
RWwn + 1
0x0000
to
RWwn + 15
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0001
RWrn + 3
0x0001
RWrn + 4
0x0000
RWrn + 5
0x0001
RWrn + 6
0x0009
RWrn + 7
0x0009
RWrn + 8
0x0000
to
RWrn + 15
A-202
4444444
This command is used to obtain the current torque value of the specified axis relative to its maximum torque
value.
Command
Address
RWwn
Contents
bit 11 bit 0
bit 15 bit 12
RWwn + 1
Not used
RWwn + 2
RWwn + 3
0xR510
Robot number
0x0000
bit 0
Axis 1
bit 1
Axis 2
bit 2
Axis 3
bit 3
Axis 4
bit 4
Axis 5
bit 5
Axis 6
bit 15 bit 6
(0: Fixed)
Not used
tt
0x0000
to
RWwn + 15
tt
Status
Normal end
Address
RWrn
Contents
Value
Status code
0x0200
RWrn + 1
Not used
0x0000
RWrn + 2
0xaaaa
RWrn + 3
0xaaaa
RWrn + 4
0xaaaa
RWrn + 5
0xaaaa
RWrn + 6
0xaaaa
RWrn + 7
0xaaaa
RWrn + 8
Not used
0x0000
to
RWrn + 15
aaaa
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
A-203
Command code
Robot designation
Value
Example:
Address
Value
RWwn
0x0510
RWwn + 1
0x0000
RWwn + 2
0x0004
RWwn + 3
0x0000
to
RWwn + 15
Address
Value
RWrn
0x0200
Robot 1, Axis 3: 20
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x0014
RWrn + 5
0x0000
RWrn + 6
0x0000
RWrn + 7
0x0000
RWrn + 8
0x0000
to
RWrn + 15
A-204
4444444
Command
Address
Contents
RWwn
RWwn + 1
Value
Command code
0x0511
Not used
0x0000
RWwn + 15
Status
Normal end
Address
RWrn
Contents
Value
Status code
0x0200
RWrn + 1
Not used
0x0000
RWrn + 2
Date (Year)
RWrn + 3
Date (Month)
RWrn + 4
Date (Day)
0xdddd
RWrn + 5
Not used
0x0000
0xyyyy
0xmmmm
to
RWrn + 15
yyyy
: Shows the year. (Lower two digits of Christian year) 0 (=0x00) to 63 (=0x99)
mmmm
dddd
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
Example:
Use this command to obtain the controller's internal
date as shown at right.
Address
Value
RWwn
0x0511
RWwn + 1
0x0000
to
RWwn + 15
:1
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x000E
RWrn + 3
0x0001
RWrn + 4
0x0001
RWrn + 5
0x0000
to
RWrn + 15
A-205
to
4444444
Command
Address
RWwn
RWwn + 1
Contents
Value
Command code
0x0512
Not used
0x0000
to
RWwn + 15
Status
Normal end
Address
RWrn
Contents
Value
Status code
0x0200
RWrn + 1
Not used
0x0000
RWrn + 2
Time (Hour)
RWrn + 3
Time (Minute)
0xmmmm
RWrn + 4
Time (Second)
0xssss
RWrn + 5
Not used
0x0000
0xhhhh
to
RWrn + 15
hhhh
mmmm
ssss
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
Example:
Use this command to obtain the controller's internal
time as shown at right.
Address
Value
RWwn
0x0512
RWwn + 1
0x0000
to
RWwn + 15
Address
Value
RWrn
0x0200
Time (Hour) : 10
RWrn + 1
0x0000
Time (Minute) : 59
RWrn + 2
0x000A
Time (Second) : 59
RWrn + 3
0x003B
RWrn + 4
0x003B
RWrn + 5
0x0000
to
RWrn + 15
A-206
4444444
Execute this command to acquire module information in the controller's optional slot.
Command
Address
RWwn
Contents
Command code
Value
Not used
0x0000
Controller designation
0xaaaa
RWwn + 3
Not used
0x0000
to
RWwn + 15
Meaning
1 to 4
Controller No.
Status
Normal end
Address
RWrn
Contents
Value
Status code
0x0200
RWrn + 1
Not used
0x0000
RWrn + 2
0xaaaa
RWrn + 3
0xaaaa
RWrn + 4
0xaaaa
RWrn + 5
0xaaaa
RWrn + 6
Not used
0x0000
to
RWrn + 15
aaaa
Meaning
0x0000
None
0x0100
0x0101
0x0200
0x0201
0x0300
CC-Link unit
0x0301
PROFIBUS unit
0x0400
DeviceNet unit
0x0401
EtherNet/IP unit
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
A-207
RWwn + 1
RWwn + 2
aaaa
0x0513
Example:
Use this command to obtain information regarding the
option slot module at Controller 1 as shown at right.
Address
Value
RWwn
0x0513
RWwn + 1
0x0000
RWwn + 2
0x0001
RWwn + 3
0x0000
to
RWwn + 15
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0300
RWrn + 3
0x0101
RWrn + 4
0x0000
RWrn + 5
0x0000
RWrn + 6
0x0000
to
RWrn + 15
A-208
4444444
Execute this command to acquire the movement amount during inching movement operations.
Command
Address
RWwn
bit 11 bit 0
Robot designation
bit 15 bit 12
Value
Robot number
Not used
0x0000
to
RWwn + 15
Status
Normal end
Address
RWrn
Contents
Value
Status code
0x0200
RWrn + 1
Not used
0x0000
RWrn + 2
Inching movement
0xdddd
RWrn + 3
Not used
0x0000
to
RWrn + 15
dddd
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
Example:
Use this command to obtain the inching movement
amount of the Robot 1 as shown at right.
0xR514
Address
Value
RWwn
0x0514
RWwn + 1
0x0000
to
RWwn + 15
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0064
RWrn + 3
0x0000
to
RWrn + 15
A-209
RWwn + 1
Contents
Command code
4444444
This command refers the most recent alarm information which occurred during remote command execution.
Command
Address
RWwn
RWwn + 1
Contents
Value
Command code
0x0515
Not used
0x0000
to
RWwn + 15
Status
Normal end
Address
RWrn
Contents
Value
Status code
0x0200
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Additional information 1
0xccdd
RWrn + 4
Additional information 2
0xeeff
RWrn + 5
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
ccdd
Contents
00
Robot ID
01
Controller ID
02
Task number
dd: number
eeff
Contents
00
From 01
Contents
00
01
Axis number ID
02
Motor number ID
03
04
ff : number
00
From 01
Contents
No number
One of the following numbers is used:
Motor number, axis number, option slot number,
program task number
Abnormal end
Address
RWrn
Contents
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
A-210
Value
Status code
aaaa
bbbb
Example:
Use this command to obtain the latest alarm as shown at right.
Address
Value
RWwn
0x0515
RWwn + 1
0x0000
to
RWwn + 15
Address
Value
RWrn
0x0200
RWrn + 1
0x0002
RWrn + 2
0x014E
RWrn + 3
0x0001
RWrn + 4
0x0101
RWrn + 5
0x0000
to
RWrn + 15
A-211
4444444
This command is used to obtain the current torque value of the specified axis relative to its rated torque value.
Command
Address
RWwn
Contents
Command code
bit 11 bit 0
Robot designation
bit 15 bit 12
RWwn + 1
Not used
RWwn + 2
RWwn + 3
Value
0xR516
Robot number
0x0000
bit 0
Axis 1
bit 1
Axis 2
bit 2
Axis 3
bit 3
Axis 4
bit 4
Axis 5
bit 5
Axis 6
bit 15 bit 6
(0: Fixed)
Not used
tt
0x0000
to
RWwn + 15
tt
Status
Normal end
Address
RWrn
Contents
Value
Status code
0x0200
RWrn + 1
Not used
0x0000
RWrn + 2
0xaaaa
RWrn + 3
0xaaaa
RWrn + 4
0xaaaa
RWrn + 5
0xaaaa
RWrn + 6
0xaaaa
RWrn + 7
0xaaaa
RWrn + 8
Not used
0x0000
to
RWrn + 15
aaaa
Abnormal end
Address
RWrn
Contents
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
A-212
Value
Status code
aaaa
bbbb
Example:
Specify a command as shown at right to use the
current torque value (percentage of rated torque)
acquisition command to obtain the current torque
value for Axis No.3 of Robot 1.
Address
Value
RWwn
0x0516
RWwn + 1
0x0000
RWwn + 2
0x0004
RWwn + 3
0x0000
to
RWwn + 15
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x0064
RWrn + 5
0x0000
RWrn + 6
0x0000
RWrn + 7
0x0000
RWrn + 8
0x0000
to
RWrn + 15
A-213
4444
Command contents
7-1
0x0602
7-2
0x0603
7-3
0x0604
444444
Command
Address
RWwn
Contents
Value
Command code
0x0602
RWwn + 1
Not used
0x0000
RWwn + 2
0xyyyy
RWwn + 3
RWwn + 4
0xmmmm
0xdddd
RWwn + 5
Not used
0x0000
to
RWwn + 15
yyyy
: Shows the year. (Lower two digits of Christian year) 0 (=0x00) to 63 (=0x99)
mmmm
dddd
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
to
RWrn + 15
Abnormal end
Address
RWrn
Contents
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
A-214
Value
aaaa
bbbb
Example:
Address
Value
RWwn
0x0602
RWwn + 1
0x0000
Date (Year) : 14
RWwn + 2
0x000E
Date (Month) : 2
RWwn + 3
0x0002
RWwn + 4
0x0002
RWwn + 5
0x0000
Date (Day)
:2
RWwn + 15
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x0000
to
RWrn + 15
A-215
to
444444
Command
Address
RWwn
Contents
Value
Command code
0x0603
RWwn + 1
Not used
0x0000
RWwn + 2
0xhhhh
RWwn + 3
RWwn + 4
0xmmmm
0xssss
RWwn + 5
Not used
0x0000
to
RWwn + 15
hhhh
mmmm
ssss
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
to
RWrn + 15
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
Example:
Use this command to set the controller's internal time
as shown below.
Time (Hour) : 8
Time (Minute) : 45
Time (Second) : 0
Address
Value
RWwn
0x0603
RWwn + 1
0x0000
RWwn + 2
0x0008
RWwn + 3
0x002D
RWwn + 4
0x0000
RWwn + 5
0x0000
to
RWwn + 15
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x0000
to
RWrn + 15
A-216
444444
Command
Address
RWwn
RWwn + 1
Contents
Value
Command code
0x0604
Not used
0x0000
RWwn + 15
Status
Normal end
Address
RWrn
RWrn + 1
Contents
Value
Status code
0x0200
Not used
0x0000
to
RWrn + 15
Abnormal end
Address
RWrn
Contents
Value
Status code
0x4000
RWrn + 1
0xaaaa
RWrn + 2
0xbbbb
RWrn + 3
Not used
0x0000
to
RWrn + 15
aaaa
bbbb
Example:
Use this command to reset the controller's internal
alarm as shown at right.
Address
Value
RWwn
0x0604
RWwn + 1
0x0000
to
RWwn + 15
Address
Value
RWrn
0x0200
RWrn + 1
0x0000
RWrn + 2
0x0000
RWrn + 3
0x0000
RWrn + 4
0x0000
to
RWrn + 15
A-217
to
Revision record
Manual version Issue date
Description
Ver. 1.00
Nov. 2014
First edition
Ver. 1.10
Nov. 2014
Users Manual
Network Board RCX340
CC-Link
Nov. 2014
Ver. 1.10
IM Operations
882 Soude, Nakaku, Hamamatsu, Shizuoka, 435-0054, Japan
Tel. 81-53-460-6103 Fax. 81-53-460-6811
Robot manuals can be downloaded from our company website.
Please use the following for more detailed information.
http://global.yamaha-motor.com/business/robot/
YAMAHA MOTOR CO., LTD.