Cc-Link Rcx3 e v1.20

Original instructions
YAMAHA NETWORK BOARD
CC-Link User’s Manual
RCX340/RCX320
EUSA19B120
Ver. 1.20 E781

CONTENTS CC-Link
User’s Manual
Important information before reading this manual

Introduction i
Safety Precautions (Always read before starting use) ii
Warranty iv
Chapter 1 Outline
1. Features 1-1
2. Mechanism 1-2
3. Part names and functions 1-3
4. I/O assignments of CC-Link compatible module 1-4
5. CC-Link system connection status transition and robot controller status 1-6
Chapter 2 Connection
1. Settings the CC-Link compatible module 2-1
2. Noise measures 2-2

2.1 Mounting the ferrite core 2-2
3. Connecting to the CC-Link system 2-3

3.1 Connecting to the cable to the controller 2-3
3.2 Testing the line from the master module 2-3
Chapter 3 Communication
1. State when the robot controller power is turned ON 3-1
2. Initial process for connecting to CC-Link system 3-2

2.1 Initial data process 3-2
3. Communication with the master module 3-3

3.1 Receiving data 3-3
3.2 Transmitting data 3-5
4. Referring to the communication data 3-6

4.1 Input/output list display 3-7
T-1
CONTENTS CC-Link
User’s Manual
4.2 Input/output details display 3-7

4.3 Switching the output status 3-8
Chapter 4 Troubleshooting
1. Check items before starting up the CC-Link system 4-1
2. Meanings of LEDs on CC-Link compatible module 4-2
3. Troubleshooting 4-3
4. Error messages relating to CC-Link 4-5
Chapter 5 Specifications
1. Profile 5-1
2. Details of remote input/output signals 5-4
3. Dedicated input/output signal timing chart 5-7

3.1 Initial data process for CC-Link connection 5-7
3.2 Servo ON and emergency stop 5-8
3.3 AUTO mode changeover, program reset and program execution 5-9
3.4 Stopping operation by a program stop 5-10
4. CC-Link compatible module specifications 5-11
Chapter 6 Appendix
1. Definitions of terms 6-1
2. CSP+ files 6-2
Remote command guide

1. Remote command format A-1
1.1 Remote command specifications A-1
1.2 Remote status A-2
2. Sending and receiving remote commands A-3
3. Remote command & remote status tables A-4
4. Remote command description A-9

4.1 Status reset command A-9
T-2
CONTENTS CC-Link
User’s Manual
4.2 Category 1 remote commands A-10

4.2.1 MOVE command A-11
PTP designation A-11
Arch designation A-14
Linear interpolation A-17
Circular interpolation A-20
Direct PTP designation (millimeter units) A-23
Direct PTP designation (pulse units) A-26
4.2.2 MOVEI command A-29
4.2.3 DRIVE command A-41
Point designation A-41
Direct designation (millimeter units) A-44
Direct designation (pulse units) A-47
4.2.4 DRIVEI command A-50
4.2.5 Pallet movement command A-59
4.2.6 Jog movement command A-65
Pulse unit system jog movement A-65
Cartesian coordinate system jog movement A-68
Tool coordinate system jog movement A-71
4.2.7 Inching movement command A-74
Pulse unit system inching movement A-74
Cartesian coordinate system inching movement A-77
Tool coordinate system inching movement A-80
4.2.8 Inching movement amount setting command A-83
4.2.9 Point teaching command A-84
4.2.10 Absolute reset movement command A-86
4.2.11 Absolute reset command A-88
4.2.12 Return-to-origin command A-90
Return-to-origin in robot units A-90
Return-to-origin in axis units A-92
4.2.13 Servo command A-94
4.2.14 Manual movement speed change command A-96
4.2.15 Automatic movement speed change command A-97
T-3
CONTENTS CC-Link
User’s Manual
4.2.16 Program movement speed change command A-98

4.2.17 Shift designation change command A-99
4.2.18 Hand designation change command A-100
4.2.19 Arm designation change command A-101
4.2.20 Motor power command A-102
4.2.21 MOVET movement command A-103
PTP point designation A-103
4.2.22 Torque control command information A-109
Max. torque command value change command A-109
4.2.23 PUSH operation command A-111
4.3.1 Point-related command A-121
Point data definition A-121
Point data reference A-123
4.3.2 Point comment-related command A-125
Point comment data definition A-125
Point comment data reference A-127
4.3.3 Pallet-related command A-129
Pallet data definition A-129
Pallet data reference A-130
4.3.4 Shift-related command A-132
Shift data definition A-132
Shift data reference A-134
4.3.5 Hand-related command A-136
Hand data definition A-136
Hand data reference A-138
4.4.1 Static variable-related command A-141
Assigning a numerical value to a static variable A-141
Assigning a variable to a static variable A-143
Arithmetic operation using numerical data on static variable A-145
Arithmetic operation using variable on static variable A-147
Static variable value reference A-149
4.4.2 Parameter-related command A-151
Assigning a value to a parameter A-151
Parameter value reference A-153
Assigning a point to a parameter A-156
T-4
CONTENTS CC-Link
User’s Manual
Point addition/subtraction A-158

Assigning a pallet point A-160
4.4.4 Element assignment command A-162
Assigning to a point element A-162
Assigning to a shift element A-164
4.5.1 I/O port commands A-167
Assigning a numerical value to an I/O port A-167
I/O port reference A-169
4.6.1 Execution program designation A-172
4.6.2 Program execution A-174
4.6.3 Program reset A-176
4.6.4 Program execution information reference A-178
4.7.1 Version information reference A-181
4.7.2 System configuration referencing A-183
4.7.3 Servo status reference A-185
4.7.4 Current position reference A-187
Pulse units designation A-187
Millimeter units designation A-189
4.7.5 Task status reference A-192
4.7.6 Task execution line reference A-194
4.7.7 Message reference A-196
4.7.8 Speed status reference A-198
4.7.9 Arm designation status reference A-199
4.7.10 Arm status reference A-200
4.7.11 Return-to-origin status reference A-201
4.7.12 Current torque value (percentage of max. torque) reference A-203
4.7.13 In-controller date reference A-205
4.7.14 In-controller time reference A-206
4.7.15 Option slot module information referencing A-207
4.7.16 Inching movement amount referencing A-209
4.7.17 Remote command latest alarm referencing A-210
4.7.18 Current torque value (percentage of rated torque) reference A-212
4.8.1 In-controller date setting operation A-214
4.8.2 In-controller time setting operation A-216
4.8.3 Alarm reset command A-217
T-5
Introduction i
Safety Precautions (Always read before starting use) ii
Warranty iv
Introduction

This CC-Link compatible module is an option module that enables connection of the YAMAHA robot controller
RCX340/RCX320 as a CC-Link system remote device station.
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.
i
Safety Precautions (Always read before starting use)
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 WARNING
FAILURE TO FOLLOW WARNING INSTRUCTIONS COULD RESULT IN SERIOUS INJURY OR DEATH TO THE OPERATOR OR
PERSON SERVICING THE PRODUCT.
c 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.
n 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 label is compatible with CC-Link Ver. 1.10 and Ver. 2.0.
■ ■ Precautions for design
w 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.
c 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.
ii
■ ■ Precautions for installation
w 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.
c 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.
w 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.
c 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.
■ ■ Precautions for starting and maintenance
w 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.
c 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).
■ ■ Precautions for disposal
c CAUTION
Dispose of this product as industrial waste.
iii
Warranty
For information on the warranty period and terms, please contact our distributor where you purchased the
product.
■ ■ This warranty does not cover any failure caused by:

1. Installation, wiring, connection to other control devices, operating methods, inspection or maintenance that does not
comply with industry standards or instructions specified in the YAMAHA manual;
2. Usage that exceeded the specifications or standard performance shown in the YAMAHA manual;
3. Product usage other than intended by YAMAHA;
4. Storage, operating conditions and utilities that are outside the range specified in the manual;
5. Damage due to improper shipping or shipping methods;
6. Accident or collision damage;
7. Installation of other than genuine YAMAHA parts and/or accessories;
8. Modification to original parts or modifications not conforming to standard specifications designated by YAMAHA,
including customizing performed by YAMAHA in compliance with distributor or customer requests;
9. Pollution, salt damage, condensation;
10. Fires or natural disasters such as earthquakes, tsunamis, lightning strikes, wind and flood damage, etc;
11. Breakdown due to causes other than the above that are not the fault or responsibility of YAMAHA;
■ ■ The following cases are not covered under the warranty:

1. Products whose serial number or production date (month & year) cannot be verified.
2. Changes in software or internal data such as programs, points, calibration, or registered models that were created or
changed by the customer.
3. Products whose trouble cannot be reproduced or identified by YAMAHA.
4. Products utilized, for example, in radiological equipment, biological test equipment applications or for other purposes
whose warranty repairs are judged as hazardous by YAMAHA.
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.1.03_201802
iv
Chapter 1 Outline
1. Features 1-1
2. Mechanism 1-2
3. Part names and functions 1-3
4. I/O assignments of CC-Link compatible module 1-4
5. CC-Link system connection status transition and robot controller status 1-6
1. Features
1
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.

The CC-Link compatible module provided with a label is compatible with CC-Link Ver.1.10.
n 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
2. Mechanism
1
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.
Mechanism of communication
Outline
ON/OFF information
Master module (1) Robot controller
(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).
A%=SIW(3)
1-2
3. Par t names and functions
1
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.
Part names
Outline
3. Accessory connector
1 2 3 4 5
1. CC-Link system connector
2. Monitor LED
ERROR 1 2 3 4 5
1
2
Terminal configuration table
3
Number Name Wiring
4
1 DA Blue
5
RUN 2 DB White
3 DG Yellow
4 SLD Shield
5 FG
Front of the module
1. CC-Link system connector

This connector is used to connect the CC-Link system cable. Use care to prevent wrong wiring.
2. Transmission monitor LED

The status in the CC-Link system is indicated with ON, OFF and flashing status of two LEDs.
■ ■ "ERROR" LED
Status Description
OFF Switches OFF when the power is OFF and when no errors occur.
Lit in red A serious error has occurred.
Flashing red A CRC error has occurred.
Communication with the CC-Link system has been disabled due to a station number, communication
Flashing red (fast)
speed, or CC-Link version change which has been made at the programming box, etc.
■ ■ "RUN" LED
Status Description
OFF Not connected to the network, time-out has occurred, or the controller power is OFF.
Lit in green Normal connection to the network is established.
3. Accessor y connector
This accessory connector is used to connect the CC-Link system cable.
1-3
4. I/O assignments of CC-Link compatible module
1
The I/O expressions used in the robot controller’s program language and the I/O expressions for the remote
device stations differ. The correspondence is shown below.
Output from robot controller Input to robot controller
Program language Remote device station Program language Remote device station
Outline
*3 *3
SOW(0) RWr0 SIW(0) RWw0
SOW(1) *3 RWr1 SIW(1) *3 RWw1

SOD(2) SID(2)

SOD(4) SID(4)

SOD(6) SID(6)

SOD(8) SID(8)
SOW(10) RWrA SIW(10) RWwA

SOD(10) SID(10)
SOW(11) RWrB SIW(11) RWwB
SOW(12) RWrC SIW(12) RWwC

SOD(12) SID(12)
SOW(13) RWrD SIW(13) RWwD
SOW(14) RWrE SIW(14) RWwE

SOD(14) SID(14)
SOW(15) RWrF SIW(15) RWwF
SO0(7~0) *1 RXn7~RXn0 SI0(7~0) *1 RYn7~RYn0

*1 *1
SO1(7~0) RXnF~RXn8 SI1(7~0) RYnF~RYn8
SO2(7~0) RX(n + 1)7~RX(n + 1)0 SI2(7~0) RY(n + 1)7~RY(n + 1)0
SO3(7~0) RX(n + 1)F~RX(n + 1)8 SI3(7~0) RY(n + 1)F~RY(n + 1)8

※2
------------ RX(n + 7)F~RX(n + 7)0 ------------ RY(n + 7)F~RY(n + 7)0 ※2
n : Start address of the output area assigned to the master module
n= (station number - 1) x 2
*1: Has a meaning in the robot controller’s internal process as a dedicated input/output.
This cannot be used as a general-purpose input/output in the robot program.
*2: This area is reserved for the CC-Link system.
*3: Has a meaning in the robot controller’s internal process as a dedicated command region.
This cannot be used as a general-purpose input/output in the robot program.
n 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.
1-4
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 number, etc.
Refer to the master module manual for details.
Example: 1
Master module Robot controller
(Q-Series)
Remote input Remote input
Outline
X17F to X100 RX8F to RX10
D115 to D100 RWr15 to RWr0
Y17F to Y100 RY8F to RY10

D135 to D120 RWw15 to RWw0
Automatic update
* One example of master module device assignments is shown.
1-5
5. CC-Link system connection status transition and robot controller status
1
The CC-Link system specification robot controller always starts the operation in the servo OFF status after the
power has been turned ON.
1. Normal state of CC-Link system connection when the robot controller power is turned ON
Outline
System connection normal state
Robot Master module

controller
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.
2. Transition from the CC-Link system normal connection state to the CC-Link system connection error
state
System connection error state (1)
Robot Master module Robot Master module

controller controller
or
Robot Master module

controller
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.
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
3. 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.
• The master module is faulty.
1
System connection error state (2)
Outline
Robot Master module Robot Master module
controller controller
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.
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 Mounting the ferrite core 2-2
3. Connecting to the CC-Link system 2-3

3.1 Connecting to the cable to the controller 2-3
3.2 Testing the line from the master module 2-3
1. Settings the CC-Link compatible module
The CC-Link compatible module's station number and communication speed settings, etc., are specified from
the programming box or from the support software.
The CC-Link system parameters are shown below.
1
Item name
Option board enable

Set value
0: INVALID, 1: VALID
Initial value
1: VALID
Remarks
Enables / disables the option board.

2
Set to VALID in order to use the CC-Link system.
* After the parameter setting has been changed, the
power need to be turned on again.
Connection
2 CC-Link station number 1 to 61 1 Sets the station number.
* Four stations are occupied. Thus, this means that
(station number +3) is occupied.
3 CC-Link baud rate 0: 156K, 1: 625K, 2: 2.5M, 0 Sets the communication speed.
3: 5M, 4: 10M * The communication speed must match the master
[unit: bps] module setting.
4 CC-Link version 0: Ver.1.10, 1: Ver.2.00 0 Sets the CC-Link version.
■ ■ Setting method
n NOTE
Always save the controller's internal data to an external memory such as support software, etc., before changing
the controller settings.
1 Open the Parameter Edit screen.

At the initial screen, select [EDIT], press [Enter], then select [PARAMETER].
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.
4 Edit the parameter.

Enter the desired set value, then press [Enter].
The "Option board VALID" parameter set values display in the order of the option slot Nos.
(1: Upper left → 2: Lower left → 3: Upper right → 4: Lower right)
Specify a setting for the slot number where the CC-Link compatible module is installed.
5 Press the [ESC] key to end the editing operation.
2-1
2. Noise measures
In cases where CC-Link system operation is affected by noise, mount a ferrite core on the input power cable.
2.1 Mounting the ferrite core

Mount a ferrite core onto the input power cable connected to the input power connector on the front panel of
2 the robot controller.
w 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.
c CAUTION
Securely fix the ferrite core. If the ferrite core is not mounted, trouble could occur with the CC-Link system
operations.
2-2
3. Connecting to the CC-Link system
The CC-Link system cable must be connected to the CC-Link compatible module in order to connect to the CC-
Link system.
Accessory connector
2
1 2 3 4 5
CC-Link system connector
Monitor LED
ERROR 1 2 3 4 5
Connection
1
2
Terminal configuration table
3
Number Name Wiring
4
1 DA Blue
5
2 DB White
RUN
3 DG Yellow
4 SLD Shield
5 FG
Front of the module
w WARNING
Before connecting the cable, completely shut down the power supplied to the robot controller.
3.1 Connecting to the cable to the controller

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.
c 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.
3.2 Testing the line from the master module

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.
c 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
2. Initial process for connecting to CC-Link system 3-2

2.1 Initial data process 3-2
3. Communication with the master module 3-3

3.1 Receiving data 3-3
3.2 Transmitting data 3-5
4. Referring to the communication data 3-6

4.1 Input/output list display 3-7
4.2 Input/output details display 3-7
4.3 Switching the output status 3-8
1. State when the robot controller power is turned ON
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 number, 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.
■ ■ When the connection to the CC-Link system is correctly established.

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.
3
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
Communication
"option board ENABLE" parameter setting.
■ ■ When the connection to the CC-Link system is incorrectly established.

If connected to the CC-Link system incorrectly, the following may be the cause.
• The CC-Link system cable is not physically connected.
• The station number, communication speed, or CC-Link version is set incorrectly.
• The master module is not operating correctly.
• The CC-Link module is invalid.
If connected to the CC-Link system incorrectly, the LEDs on the CC-Link compatible module show the error state.
Note that if the master module is not operating correctly, nothing will appear on the LEDs.
The emergency stop signal 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 by an
"option board ENABLE" parameter setting.
* For details about LED indications, see Chapter 4 "2. Meanings of LEDs on CC-Link compatible module".
3-1
2. Initial process for connecting to CC-Link system
The initial data process must be carried out to correctly connect to the CC-Link system.
2.1 Initial data process

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.
Initial data process (Master module)
3
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
on
RX (n + 7) 8 off
on
RX (n + 7) B off
on
RY (n + 7) 8 off
c 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.
3-2
3. Communication with the master module
This section describes the communication with the master module using the robot program when connected to
the CC-Link system correctly.
3.1 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 Robot controller Address of master module Robot controller
3
output area input port No. output area input port No.
RYn7~RYn0 SI(07)~SI(00) RWwn SIW(0)
RYnF~RYn8 SI(17)~SI(10) RWw(n + 1) SIW(1)
RY(n + 1)7~RY(n + 1)0 SI(27)~SI(20) RWw(n + 2) SIW(2)

SID(2)
RY(n + 1)F~RY(n + 1)8 SI(37)~SI(30) RWw(n + 3) SIW(3)
Communication
SID(4)

SID(6)

SID(8)

SID(10)

SID(12)
RWw(n + 14) SIW(14)

SID(14)
RWw(n + 15) SIW(15)
c 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.
n 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
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.
n NOTE
3
The word data written with SIW(n) has the unsigned little endian format.
The double word data written with SID(n) has the signed little endian format.
Communication
3-4
3.2 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 Robot controller Address of master module Robot controller
input area output port No. input area output port No.
RXn7~RXn0 SO(07)~SO(00) RWrn SOW(0)
RXnF~RXn8 SO(17)~SO(10) RWr(n + 1) SOW(1)
RX(n + 1)7~RX(n + 1)0 SO(27)~SO(20) RWr(n + 2) SOW(2)

SOD(2)
RX(n + 1)F~RX(n + 1)8 SO(37)~SO(30) RWr(n + 3) SOW(3)
RX(n + 2)7~RX(n + 2)0
RX(n + 2)F~RX(n + 2)8
RX(n + 3)7~RX(n + 3)0

SO(47)~SO(40)
SO(57)~SO(50)
SO(67)~SO(60)
RWr(n + 4)
RWr(n + 5)
RWr(n + 6)
SOD(4)
SOW(4)
SOW(5)
SOW(6)
3
SOD(6)
Communication
SOD(8)

SOD(10)

SOD(12)
RWr(n + 14) SOW(14)

SOD(14)
RWr(n + 15) SOW(15)
n : Start address of the input area assigned to the master module
c 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.
n 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.
n NOTE
The word data written with SOW(n) has the unsigned little endian format.
The double word data written with SOD(n) has the signed little endian format.
3-5
4. Referring to the communication data
The master module's ON/OFF information can be referred to with the programming box.
Note that the programming box's display update interval is longer than the CC-Link data update interval. So,
if the ON/OFF interval is short, accurate information may not be displayed.
Input/output list screen
3
Communication
Input/output details screen
"SIW monitor" screen
* Expressed as hexadecimal values.
3-6
4.1 Input/output list display
1 At the initial screen, select "DI MONITOR 1" screen

[MONITOR] → [I/O].
The "DI Monitor 1" screen then displays.
2 Select the input/output monitor to

be displayed.
Press the desired [F7] (SI) to [F10] (SOW) key
to display the input/output monitor
corresponding to each key.
Key Input/output
F7
F8
F9
SI
SO
SIW
3
F10 SOW
"SI MONITOR 1" screen
Communication
3 Change the port number.
At the Monitor screen, press the [MONITOR]
key to display the next port number.
If there is no next port number, the inputs/
outputs change in the following order:
DI → DO → MO → LO → TO → SI → SO → SIW
→ SOW
Press the [ESC] key to end the monitor

display.
4.2 Input/output details display
n NOTE
There are no displays for SIW and SOW details.
1 Open the Input/Output Monitor

screen.
2 Press the [F1] (Details) key. "SI MONITOR 1 DETAIL" screen
The "Input/Output Details" screen then
displays.
3 Changing the port number

■ Changing the ten's digit of port number
Press the [MONITOR] key to change the
DI port's ten's place (0 → 10 → 20) and
display the monitor details.
If there is no next DI port, the inputs/
outputs display in the following order:
DI → DO → MO → LO → TO → SI → SO →
SIW → SOW
■ Changing the one's digit of port number
Use the cursor up/down keys to select
the desired port number, then press
[Enter]. The port number can then be
changed.

display.
3-7
4.3 Switching the output status
1 Displaying the output monitor "SO MONITOR 1 DETAIL" screen

details.
Display the output list where the output
status is to be switched, then press the [F1]
(Details) key.
The output details then display.
2 Specify the port number

At the Output Monitor Details screen, use
the cursor up/down keys to select the
desired port number, then press [Enter] to
3 change the port number.

Or, press the [MONITOR] key to change the
port number.
3 Switch the output status.

Communication
Use the cursor keys to select the ON or OFF

setting for the bit number which changes
the output status, then press [Enter] to switch
that output status.

display.
3-8
Chapter 4 Troubleshooting
1. Check items before starting up the CC-Link system 4-1
2. Meanings of LEDs on CC-Link compatible module 4-2
3. Troubleshooting 4-3
4. Error messages relating to CC-Link 4-5

1. Check items before starting up the CC-Link system
Check the following items before starting up the CC-Link system.
Check item Check
1 Is the robot controller set to the CC-Link system specifications?

(Refer to Chapter 2 "1. Settings the CC-Link compatible module")
2 Are the CC-Link compatible module station number, communication speed, and CC-Link version correctly set?
(Refer to Chapter 2 "1. Settings the CC-Link compatible module")
3 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")
4 Was the line test from the master module correct?
(Refer to the user’s manual for master module.)
5 Is the master module set for the 4-station occupying remote device?
(Refer to the user’s manual for master module.)
6 Is the master module exchanging the data for four stations?
4
(The data for four stations must always be exchanged.)
7 Has the initial data process been carried out between the master module and robot controller?
(Refer to Chapter 3 "2.1 Initial data process")
8 Is the master module judging that the robot controller is correctly functioning using RX(n + 7)8 (remote Ready)?
Troubleshooting
4-1
2. Meanings of LEDs on CC-Link compatible module
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 Description
OFF Switches OFF when the power is OFF and when no errors are active.
Flashing red A CRC error has occurred.
Communication with the CC-Link system has been disabled due to a station number, communication
Flashing red (fast)
speed, or CC-Link version change which has been made at the programming box, etc.
■ ■ "RUN" LED
Status Description
OFF Not connected to the network, time-out has occurred, or the controller power is OFF.
Lit in green Normal connection to the network is established.
c 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".
4-2
3. 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
The "PWR" LED is OFF.
contents
Cause The power is not supplied to the robot controller.
Corrective Measure the voltage at the AC power input terminal of the power connector with a multi-meter to check
measures that the operating power voltage is supplied.
* For details about the power supply voltage for the robot controller, refer to the user’s manual for robot controller.
Confirmation
4
An alarm code is indicated at the 7-segment LED.
contents
Cause An alarm has been activated in the robot controller.
• Check the alarm message displayed on the programming box.

Corrective
• Take corrective measures while referring to the troubleshooting stated in the user’s manual for robot
measures
Troubleshooting
controller.
* Refer to the robot controller user's manual for alarm details.
■ ■ Programming box error display confirmation

At the programming box's Diagnosis screen ([System] → [Check]), verify that the "12.531: CC-Link
Confirmation
communication error", etc., is displayed.
contents
(If multiple alarms have occurred simultaneously, the CC-Link related alarm may not display.)
Cause A CC-Link system connection related alarm has occurred.
• Check the alarm message displayed on the programming box.

• Check the alarm history with the programming box.
The alarm history can be checked from the programming box's "Alarm History" screen ([System] →
[History]).
• Take corrective measures while referring to the troubleshooting stated in the user’s manual for robot
Corrective controller.
measures • Check whether the CC-Link system cable is disconnected or incorrectly connected and whether the
terminator is connected.
• Check the station number, communication speed, and CC-Link version settings for the CC-Link
compatible module.
• Check to see if the master module is running.
• Check whether a restart (power OFF, then ON again) occurred following a parameter setting change.
* Refer to the robot controller user's manual for alarm details.
■ ■ CC-Link compatible module LED confirmation

Check that the LED display on the CC-Link compatible module are NOT as follows:
Confirmation
RUN: Green ON
contents
ERROR: OFF
A CC-Link system connection related alarm has occurred.
Cause
(For LED indication details, see Chapter 4 "2. Meanings of LEDs on CC-Link compatible module".)
• Check 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.
Corrective • Check that the ferrite core is connected to the power supply cable of the robot controller.
measures • Check the station number, 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
■ ■ Confirmation from master module
Confirmation Using the master module's line test function, confirm robot controller is correctly connected to the
contents CC-Link system.
Cause • The CC-Link cable is laid near sources of noise such as the power cable.
Corrective • Connect the ferrite core for noise measures onto the input power cable.
measures • Wire the CC-Link cable away from noise sources such as the power cables.
n NOTE
Refer to the master module manual for details on the line test function.
4
Troubleshooting
4-4
4. Error messages relating to CC-Link
This section describes alarm messages relating to CC-Link compatible modules. For other alarms, refer to
the user's manual for robot controller.
When an alarm occurs, the relevant alarm message displays at the programming box.
12.400: Standard in stop on

Code : &H000C &H0190
a. Program execution or axis movement was attempted in the stop status.

b. The robot was put in the stop status during program execution or axis movement.
Meaning/Cause
c. 24V-power for I/O is not supplied to the DIO connector.
d. The DIO connector is not connected.
a, b. Cancel the stop status, and then execute the program or move the axis.
c. Supply 24V-power for I/O.
Action
d. Connect the DIO connector.
* Set the "Option board enable" parameter INVALID when DIO is not used.
12.531: CC-Link communication error

4
Code : &H000C &H0213
a. Error occurred on the cable for CC-Link system.
Troubleshooting
b. The communication setting of the CC-Link system is incorrect.
Meaning/Cause c. The master module power is turned off, has stopped operating or is damaged.
d. The CC-Link compatible module is damaged.
e. Initial data process is not performed.
a. Check for a break, disconnection, wiring error, short circuit on the CC-Link cable or the
specifications (cable length, etc.).
b. Check the station number, communication baud rate and CC-Link version settings.
Action
c. Check that the master module operates correctly.
d. Replace the CC-Link compatible module.
e. Perform initial data process.
12.532: CC-Link overtime error

Code : &H000C &H0214
a. Communication error occurred by noise, etc. in the CC-Link system.

Meaning/Cause b. The master module is turned off or has stopped operating.
c. The cable is broken or unconnected.
a. Take noise preventive actions for the cable for the CC-Link system and the controller.
Action b. Check that the master module operates correctly.
c. Check the CC-Link cable connection.
12.600: Emergency stop on

Code : &H000C &H0258
a. The programming box emergency stop button was pressed.

b. The emergency stop terminal on the SAFETY connector is open (emergency stop status).
Meaning/Cause
c. The programming box or terminator is not connected to the PB connector.
d. The SAFETY connector is not connected.
a. Release the emergency stop button on the programming box.
b. Close the emergency stop terminal on SAFETY connector.
Action
c. Connect the programming box or terminator to the PB connector.
d. Attach the SAFETY connector.
12.760: CC-Link initialize error

Code : &H000C &H02F8
Meaning/Cause Initializing the CC-Link option board failed.
Action Contact your distributor.
4-5
12.900: Incorrect option setting
Code : &H000C &H0384
a. Error occurred in ID setting on the option module.

Meaning/Cause b. Option modules that cannot be mixed were installed.
c. The installed option module cannot be identified.
a. Check the ID setting of the option module.
b. Install the correct option modules.
Action
c. Replace the option module.
• Replace the controller.
12.904: SIO option board initialize error

Code : &H000C &H0388
Meaning/Cause Initializing the SIO option board failed.
Action Contact your distributor.
4
Troubleshooting
4-6
Chapter 5 Specifications
1. Profile 5-1
2. Details of remote input/output signals 5-4
3. Dedicated input/output signal timing chart 5-7

3.1 Initial data process for CC-Link connection 5-7
3.2 Servo ON and emergency stop 5-8
3.3 AUTO mode changeover, program reset and program execution 5-9
3.4 Stopping operation by a program stop 5-10
4. CC-Link compatible module specifications 5-11

1. Profile
YAMAHA robot controller (4-station occupying)
■ ■ Remote input/output
Remote → Master Master → Remote
Address Signal name Address Signal name
RXn0 SO(00): Emergency stop status output RYn0 SI(00): Emergency stop input
RXn1 SO(01): CPU_OK status output RYn1 SI(01): Servo ON input
RXn2 SO(02): Servo ON status output RYn2
RXn3 SO(03): Alarm status output RYn3 *1
System area [for future expansion]
RXn4 SO(04): MP RDY status output RYn4
RXn5 RYn5
*1
RXn6 System area [for future expansion] RYn6 SI(06): Stop input
*1
RXn7 RYn7 System area [for future expansion]
RXn8 SO(10): AUTO mode status output RYn8 SI(10): Sequence control input
*1
RXn9 SO(11): Return-to-origin complete status output RYn9 System area [for future expansion]
RXnA SO(12): Sequence program execution status RYnA SI(12): Auto operation start input
output
5
*1
RXnB SO(13): Robot program running output RYnB System area [for future expansion]
RXnC SO(14): Program reset status output RYnC SI(14): Return-to-origin input (incremental type axis)
RXnD SO(15): Warning output RYnD SI(15): Program reset input
RXnE *1
RYnE SI(16): Alarm reset input
System area [for future expansion]
RXnF RYnF SI(17): Return-to-origin input (absolute type axis)
Specifications
RX(n + 1)0 RY(n + 1)0
to SO(20) to SO(27): General-purpose output to SI(20) to SI(27): General-purpose input
RX(n + 1)7 RY(n + 1)7
RX(n + 1)8 RY(n + 1)8
RX(n + 1)F RY(n + 1)F
RX(n + 2)0 RY(n + 2)0
RX(n + 2)7 RY(n + 2)7
RX(n + 2)8 RY(n + 2)8
RX(n + 2)F RY(n + 2)F
RX(n + 3)0 RY(n + 3)0
RX(n + 3)7 RY(n + 3)7
RX(n + 3)8 RY(n + 3)8
RX(n + 3)F RY(n + 3)F
RX(n + 4)0 RY(n + 4)0
RX(n + 4)7 RY(n + 4)7
RX(n + 4)8 RY(n + 4)8
RX(n + 4)F RY(n + 4)F
RX(n + 5)0 RY(n + 5)0
RX(n + 5)7 RY(n + 5)7
RX(n + 5)8 RY(n + 5)8
RX(n + 5)F RY(n + 5)F
RX(n + 6)0 RY(n + 6)0
RX(n + 6)7 RY(n + 6)7
(continued to next page)
5-1
Address Signal name Address Signal name
RX(n + 6)8 RY(n + 6)8
RX(n + 6)F 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)3 *1
RY(n + 7)3 *1
Reserved Reserved
RX(n + 7)4 RY(n + 7)4
RX(n + 7)5 RY(n + 7)5
RX(n + 7)6 RY(n + 7)6
RX(n + 7)7 RY(n + 7)7
RX(n + 7)8 Initial data process request flag RY(n + 7)8 Initial data process complete flag
RX(n + 7)9 *1
RY(n + 7)9 *1
Reserved Reserved
RX(n + 7)A RY(n + 7)A
RX(n + 7)B Remote ready RY(n + 7)B
*1
RX(n + 7)C *1
RY(n + 7)C Reserved
Reserved
RX(n + 7)D RY(n + 7)D
RX(n + 7)E *1
RY(n + 7)E *1
(Reserved:QnA) (Reserved:QnA)
RX(n + 7)F RY(n + 7)F
5
* Used to perform a return-to-origin at dedicated "absolute type axes" or at dual "absolute & incremental type axes", depending on the
parameter (DI17) setting.
*1: Reserved area. Do not use.
w
Specifications
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.
5-2
■ ■ Address
Address Name Address Name
RWrn Dedicated SOW(0) RWwn Dedicated SIW(0)
RWr(n + 1) Dedicated SOW(1) RWw(n + 1) Dedicated SIW(1)
RWr(n + 2) General-purpose General-purpose SOW(2) RWw(n + 2) General-purpose General-purpose SIW(2)
RWr(n + 3) SOD(2) General-purpose SOW(3) RWw(n + 3) SID(2) General-purpose SIW(3)
Specifications
5-3
2. Details of remote input/output signals
■ ■ Remote input (RX)
Address Signal name Description
RXn0 SO(00): Emergency stop status output Turns ON when robot controller is in emergency stop state.
RXn1 SO(01): CPU_OK status output Turns ON when robot controller is in normal state.
RXn2 SO(02): Servo ON status output Turns ON when the motor power of the robot controller is ON.
RXn3 SO(03): Alarm status output Switches ON when a serious robot controller error has occurred.
RXn4 SO(04): MP RDY status output Switches ON when main power is supplied from the robot
controller, and when servo ON operation is enabled by the servo
ON input signal.
Switches OFF when a serious robot controller error occurs.
RXn8 SO(10): AUTO mode status output Turns ON when the AUTO mode is selected.
Turns OFF when other mode is selected.
RXn9 SO(11): Return-to-origin complete status Turns ON when the robot has completed the return-to-origin.
output
RXnA SO(12): Sequence program execution status Turns ON while the sequence program is being executed.
output
RXnB SO(13): Robot program running output Turns ON while the robot program is being executed.
RXnC SO(14): Program reset status output Turns ON when the robot program has been reset.
5
Turns OFF when the robot program starts.
RXnD SO(15): Warning output Switches ON when a robot controller warning status occurs.
RX(n + 1)0
to SO(20) to SO(27): General-purpose output
RX(n + 1)7 General-purpose output turns ON/OFF when the value is
Specifications
to assigned to the SO port, or SET/RESET command or OUT

RX(n + 6)8 command is executed.
to SO(150) to SO(157): General-purpose output

RX(n + 6)F
RX(n + 7)8 Initial data process request flag The initial data process request flag turns ON to request the
initial data setting when the power is turned ON, or when
returning from a communication error.
Turns OFF when initial data process is completed (initial data
process complete flag RY(n+7)8 turns ON).
RX(n + 7)B Remote ready Turns ON when initial data setting is completed and READY state
is entered when power is turned ON or when returning from
communication error.
n NOTE
When the area check output function is used, the area check outputs can be assigned to SO(20) ~ SO(157).
5-4
■ ■ Remote output (RY)
Address Signal name Description
RYn0 SI(00): Emergency stop input Turn OFF to put the controller in the emergency stop state.
Keeps turned ON during normal operation.
RYn1 SI(01): Servo ON input 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 SI(06): Stop input Turn OFF to stop the robot program currently being executed.
To execute the program, keep this signal turned ON.
RYn8 SI(10): Sequence control input Turn ON to execute the sequence program in the robot controller.
The sequence program is executed when this signal is in the ON state.
RYnA SI(12): Auto operation start input Turn ON to execute the robot program.
The robot program is executed when this signal is switched from OFF to ON.
RYnC SI(14): Return-to-origin input Turn ON to perform the return-to-origin of the incremental type axis or
(incremental type axis) semi-absolute type axis. When this signal is switched from OFF to ON, the
incremental type axis performs the return-to-origin and the semi-absolute
type axis performs the absolute search operation.
This signal is intended for axes whose return-to-origin method is the sensor
or stroke end method.
RYnD SI(15): Program reset input Turn ON to reset the robot program.
5
The program is reset when this signal is switched from OFF to ON.
It is necessary that the robot controller is in the AUTO mode.
RYnE SI(16): Alarm reset input Turn ON to perform an alarm reset.
The alarm reset occurs when this signal switches from OFF to ON. A power
restart is required for alarms which are not cleared (reset) by this signal.
RYnF SI(17): Return-to-origin input Used to perform a return-to-origin at dedicated "absolute type axes" or at
Specifications
(absolute type axis) dual "absolute / incremental type axes", depending on the parameter (DI17
mode) setting.
• When set at "ABS";
Turn ON to perform return-to-origin for an absolute type axis. The
return-to-origin occurs when this signal is switched from OFF to ON. The
axis whose return-to-origin method is the mark method does not perform
the return-to-origin. Additionally, if the axis whose return-to-origin
method is the mark method does not complete the return-to-origin, the
return-to-origin is not executed using the dedicated input.
• When set at "ABS/ORG";
When only the absolute type axis is present, the return-to-origin is
performed for the absolute type axis.
The return-to-origin occurs when this signal is switched from OFF to ON.
When only incremental and semi-absolute type axes are present, the
return-to-origin is performed for those two axis types. When this signal is
switched from OFF to ON, the incremental type axis performs a
return-to-origin and the semi-absolute type axis performs an absolute
search operation.
When the absolute type axis, incremental type axis, and semi-absolute
type axis are mixed, the incremental type axis and semi-absolute type
axis perform the return-to-origin after the absolute type axis has
performed the return-to-origin.
RY(n + 1)0
SI(20) to SI(27): General-purpose
to
output
RY(n + 1)7
Refers to the SI port value, executes the WAIT command, and uses the ON/
to
OFF state of the general-purpose input.
RY(n + 6)8
SI(150) to SI(157): General-purpose
to
output
RY(n + 6)F
RY(n + 7)8 Initial data process complete flag Switches ON when the initial data process request flag switches ON at
power ON or at a recovery from a communication error.
5-5
n NOTE
• When the RCX141 or RCX221 is changed to the RCX340/RCX320 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/RCX320 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 Name Description
RWwn Dedicated SIW(0) Used as the remote command area.
RWw(n + 1) Dedicated SIW(1) Used as the command data area of the remote command.
RWw(n + 2) General-purpose General-purpose SIW(2)
RWw(n + 3) SID(2) General-purpose SIW(3)
5
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.
Specifications

■ ■ Address (RWr)
Address Name Description
RWrn Dedicated SOW(0) Used as the status area of the remote command.
RWr(n + 1) Dedicated SOW(1) Used as the error code area of the remote command.
RWr(n + 2) General-purpose General-purpose SOW(2)
RWr(n + 3) SOD(2) General-purpose SOW(3)
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.
5-6
3. Dedicated input/output signal timing char t
3.1 Initial data process for CC-Link connection
on
RX( n + 7 ) 8
Initial data process request flag off
RX( n + 7 ) B on
Remote Ready off
RY( n + 7 ) 8 on
Initial data process complete flag off
a) b) c) d)
c 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.
5
■ ■ Confirmation of connection with the master module at power ON
a) Initial data process request flag ON is output
Specifications
b) Initial data process complete flag ON is input
c) Initial data process request flag OFF is output
d) Remote Ready ON is output
Connection with the CC-Link system is completed with this process.
* This process is always required to correctly connect to the CC-Link system.

* The servo is OFF when the controller power is turned ON.
5-7
3.2 Ser vo ON and emergency stop
RXn 0 [SO( 0 0 ) ] on
Emergency stop off
status output
RXn 1 [SO( 0 1 ) ] on
CPU_OK status output off
RXn 2 [SO( 0 2 ) ] on
Servo ON status output
off
RXn 3 [SO( 0 3 ) ] on
Alarm status output
off
on
RYn 0 [SI( 0 0 ) ]
Emergency stop input off
RYn 1 [SI( 0 1 ) ] on
Servo ON input off
RYn E [SI( 1 6 ) ] on
Alarm reset input off
a) b) c) d) e) f) g) h) i) j) k) l) m)
5 c 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.)
Specifications
• Use this also if there is a dedicated output in response to the dedicated input from the master module to the
controller.
■ ■ Initial ser vo ON process after power ON

a) Servo ON input ON is input
b) If not in the emergency stop state, output servo ON status ON is output
c) After confirming that servo ON status output is ON, servo ON input OFF is input
■ ■ Shift to emergency stop

d) Emergency stop input OFF is input
e) Emergency stop status ON and alarm status output ON are output
Servo ON status output OFF is output
■ ■ Ser vo ON process from emergency stop status

f) Emergency stop input ON is input
g) Emergency stop status output OFF is output
h) Alarm reset input's ON input
i) Alarm status output OFF is output
j) The alarm reset input's OFF input occurs after confirming that the alarm status output is OFF
k) Servo ON input ON is input
l) Servo ON status output ON is output
m) After confirming that servo ON status output is ON, servo ON input OFF is input
* The servo is OFF when the controller power is turned ON.
5-8
3.3 AUTO mode changeover, program reset and program execution
RXn 8 [SO( 1 0 ) ] on
AUTO mode status output off
RXn 9 [SO( 1 1 ) ] on
Return-to-origin complete off
status output
RXn B [SO( 1 3 ) ] on
Robot program running off
output
RXn C [SO( 1 4 ) ] on
Program reset status output off
on
RYn 6 [SI( 0 6 ) ]
Stop input off
RYn A [SI( 1 2 ) ] on
Auto operation start input off
SAFETY connector on
auto mode input off
(CE specs. only)
Programming box on
manual lock input off
Programming box
control authority
Release
Get
5
RYn D [SI( 1 5 ) ] on
Program reset input off
Specifications
100ms or more
a) b) c) d) e) f) g) h) i)
c CAUTION
• Use this also if there is a dedicated output in response to the dedicated input from the master module to the
controller.
■ ■ AUTO mode changeover process

a) SAFETY connector's auto mode input ON is input, programming box's manual lock input OFF is input
b) AUTO mode status output ON is output
c) Programming box control authority CANCEL
■ ■ Program reset process

d) Program reset input ON is input
e) Program reset status output ON is output
f) After confirming that the program reset status output is ON, the program reset input OFF is input
■ ■ Program execution process

g) Auto operation start input ON is input
h) Program reset status output OFF is output, "robot program running" output ON is output
i) After confirming that the robot program running output is ON, auto operation start input OFF is input.
* The program cannot be executed if the emergency stop and stop input are OFF.
5-9
3.4 Stopping operation by a program stop
RXn 8 [SO( 1 0 ) ] on
AUTO mode status output
off
RXn 9 [SO( 1 1 ) ] on
Return-to-origin complete
status output off
RXn B [SO( 1 3 ) ] on
Robot program execution off
status output
RYn 6 [SI( 0 6 ) ] on
Stop input off
RYn A [SI( 1 2 ) ] on
Auto operation start input off
a) b) c) d) e) f) g) h) i)
100ms or more
c CAUTION
5 • Use this also if there is a dedicated output in response to the dedicated input from the master module to the
controller.
■ ■ Program execution process

Specifications
a) Auto operation start input ON is input

b) Robot program running output ON is output
c) After confirming that the robot program running output is ON, auto operation start input OFF is input
■ ■ Program stop process using stop input

d) Stop input OFF is input
e) Robot program running output OFF is output
■ ■ Program execution after stopping program with stop input

f) Stop input ON is input
g) Auto operation start input ON is input
h) Robot program running output ON is output
i) After confirming that the "robot program running" output is ON, auto start input OFF is input
* The program also stops at transitions to an emergency stop status. At this point, the alarm status output ON is output,
and servo ON status output OFF is output. To re-execute the program, an alarm reset or servo ON processing are
required.
5-10
4. CC-Link compatible module specifications
Model CC-Link compatible module

Spec. Item
Controller model RCX340 / RCX320

Version Ver.1.10 / Ver.2.0
Remote station type Remote device station
Number of occupied stations Fixed to four stations
Station number setting 1 to 61 (rotary switch)
Communication speed setting 10M / 5M / 2.5M / 625K / 156Kbps
Dedicated input : 16 points
General-purpose input : 96 points
Remote input/output
Dedicated output : 16 points
General-purpose output : 96 points
CC-Link input/output points
Dedicated input : 2 words
General-purpose input : 14 words
Remote register
Dedicated output : 2 words
General-purpose output : 14 words
Monitor LEDs RUN, ERROR
5
* Controller’s 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.
c CAUTION
• For the names and description of remote input/output signals and remote registers, refer to the tables shown in
Specifications
"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.
5-11
Chapter 6 Appendix
1. Definitions of terms 6-1
2. CSP+ files 6-2

1. Definitions of terms
■ ■ CC-Link (Control & Communication Link)
■ ■ 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.
Appendix
6-1
2. CSP+ files
The CSP+ file is the CC-Link Family System Profile with a format based on the CC-Link specifications.
This file contains information required for connecting with the host device (the master module, etc.).
The CSP+ file is read to the host device's configurator tool in order to enable recognition of product
information and identify items where settings are possible.
The CSP+ file can be downloaded from the YAMAHA website:
(http://global.yamaha-motor.com/business/robot/download/fieldbus/)
6
Appendix
6-2
1. Remote command format A-1

1.1 Remote command specifications A-1
1.2 Remote status A-2
2. Sending and receiving remote commands A-3
3. Remote command & remote status tables A-4
4. Remote command description A-9

4.1 Status reset command A-9
4.2.1 MOVE command A-11
Circular interpolation A-20
4.2.2 MOVEI command A-29
4.2.3 DRIVE command A-41
4.2.4 DRIVEI command A-50
4.2.5 Pallet movement command A-59
4.2.6 Jog movement command A-65
Pulse unit system jog movement A-65
Cartesian coordinate system jog movement A-68
Tool coordinate system jog movement A-71
4.2.7 Inching movement command A-74

Pulse unit system inching movement A-74
Cartesian coordinate system inching movement A-77
Tool coordinate system inching movement A-80
4.2.8 Inching movement amount setting command A-83
4.2.9 Point teaching command A-84
4.2.10 Absolute reset movement command A-86
4.2.11 Absolute reset command A-88
4.2.12 Return-to-origin command A-90
Return-to-origin in robot units A-90
Return-to-origin in axis units A-92
4.2.13 Servo command A-94
4.2.14 Manual movement speed change command A-96
4.2.15 Automatic movement speed change command A-97
4.2.16 Program movement speed change command A-98
4.2.17 Shift designation change command A-99
4.2.18 Hand designation change command A-100
4.2.19 Arm designation change command A-101
4.2.20 Motor power command A-102
4.2.21 MOVET movement command A-103
PTP point designation A-103
4.2.22 Torque control command information A-109
Max. torque command value change command A-109
4.2.23 PUSH operation command A-111
Point data definition A-121
Point data reference A-123
4.3.2 Point comment-related command A-125
Point comment data definition A-125
Point comment data reference A-127
4.3.3 Pallet-related command A-129
Pallet data definition A-129
Pallet data reference A-130

4.3.4 Shift-related command A-132
Shift data definition A-132
Shift data reference A-134
4.3.5 Hand-related command A-136
Hand data definition A-136
Hand data reference A-138
4.4.1 Static variable-related command A-141
Assigning a numerical value to a static variable A-141
Assigning a variable to a static variable A-143
Arithmetic operation using numerical data on static variable A-145
Arithmetic operation using variable on static variable A-147
Static variable value reference A-149
4.4.2 Parameter-related command A-151
Assigning a value to a parameter A-151
Parameter value reference A-153
Assigning a point to a parameter A-156
Point addition/subtraction A-158
Assigning a pallet point A-160
4.4.4 Element assignment command A-162
Assigning to a point element A-162
Assigning to a shift element A-164
4.5.1 I/O port commands A-167
Assigning a numerical value to an I/O port A-167
I/O port reference A-169
4.6.1 Execution program designation A-172
4.6.2 Program execution A-174
4.6.3 Program reset A-176
4.6.4 Program execution information reference A-178
4.7.1 Version information reference A-181
4.7.2 System configuration referencing A-183
4.7.3 Servo status reference A-185
4.7.4 Current position reference A-187

Pulse units designation A-187
Millimeter units designation A-189
4.7.5 Task status reference A-192
4.7.6 Task execution line reference A-194
4.7.7 Message reference A-196
4.7.8 Speed status reference A-198
4.7.9 Arm designation status reference A-199
4.7.10 Arm status reference A-200
4.7.11 Return-to-origin status reference A-201
4.7.12 Current torque value (percentage of max. torque) reference A-203
4.7.13 In-controller date reference A-205
4.7.14 In-controller time reference A-206
4.7.15 Option slot module information referencing A-207
4.7.16 Inching movement amount referencing A-209
4.7.17 Remote command latest alarm referencing A-210
4.7.18 Current torque value (percentage of rated torque) reference A-212
4.8.1 In-controller date setting operation A-214
4.8.2 In-controller time setting operation A-216
4.8.3 Alarm reset command A-217
1. Remote command format
A
Using the CC-Link compatible module allows issuing commands directly from the master module (programmable
logic controller).
1.1 Remote command specifications

Functions such as shown below are assigned to each address.
Output (remote → master) Input (remote ← master)
Address Contents Address Contents

Status
RWrn RWwn Execute command code
Normal end Abnormal end
RWrn + 1 Alarm group number RWwn + 1
RWrn + 2 Alarm category number RWwn + 2
RWrn + 3 Response Not used RWwn + 3 Command data
to to
RWrn + 15 RWwn + 15
n : Implemented by the master module
n 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
1.2 Remote status
The controller starts processing when the remote command is received and sends the status (results) to the
A
master module by way of "m".
■ ■ Remote status list

Status contents
Meaning
RWrn RWrn + 1 RWrn + 2 From RWrn + 3
0x0000 0x0000 Command ready status
0x0100 0x0000 Command run status
0x0200 Response data Normal end status
0x4000 Alarm group number Alarm category number 0x0000 Abnormal end status
n NOTE
■ ■ Code 0x0000 ...................................................................................Command ready status

Indicates a state where remote command is not being run and a new remote command can be received. Remote status
must always be set to command ready status (0x0000) in order to execute a remote command. To change the remote
status to command ready status (0x0000), run the status reset command (0x0000).
■ ■ Code 0x0100 ...................................................................................... Command run status

Indicates a state where the controller has received a remote command and is in command run status.
In some cases the command run status (0x0100) might not be sent to the master module due to problems caused by a
short remote command execution time versus the controller scan time (5 ms).
■ ■ Code 0x0200 ......................................................................................... Normal end status

Indicates a state where the remote command was run correctly.
Category 5 (key operation command) indicates command was received as a key operation command. The actual key
operation sometimes might be in progress.
■ ■ Code 0x4000 ...................................................................................... Abnormal end status

Indicates remote command ended abnormally.
Alarm group number and alarm category number that occurred are sent to m + 2 and m + 4.
• Alarm group number RWrn + 1
Indicates the cause of end abnormally as the alarm group number.
• Alarm categor y number RWrn + 2
Indicates the cause of end abnormally as the alarm category number.
* For example, 0x000C is set in RWrn + 1 as the alarm group number and 0x0258 is set in RWrn + 2 as the alarm
category number when the remote command was interrupted by an emergency stop input.
* For information on the alarm, refer to the troubleshooting section of the robot controller user's manual.
A-2
2. Sending and receiving remote commands
Sending and receiving remote commands A
Remote command RWwn 2 5

Command data RWwn + 1 to 1
RWwn + 15
Status RWrn 3 4 6
Response RWrn + 1 to 4 6
RWrn + 15
n NOTE
1. Command data setting

2. Remote command setting
3. Status shifts to command run status (0x0100).
(If the command is quickly executed, status may sometimes shift to normal end status (0x0200) without changing to
command run status (0x0100).)
4. Shifts to response change and normal end status (0x0200) or to abnormal end status (0x4000).
5. Status reset command (0x0000) setting
6. Status and response shifts to command ready status.
Example: Typical transmit/receive when running a PTP movement command (all axes, program speed 50%) to point 19 is
shown below.
1. To run the PTP movement command for the designated point, enter the value in the registers shown below.
RWwn + 1 : command flag (0x0004 = speed setting)
RWwn + 3 : speed setting (0x0032 = 50%)
RWwn + 4 : point setting (0x0013 = point 19)
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
3. Remote command & remote status tables
A
Remote commands and remote status codes are shown in hexadecimal notation.
■ ■ Remote Command
Command contents
Meaning
Category RWwn
Special 0x0000 Status reset command
1 0xR0nn Movement command and associated command
2 0xR1nn Definition and reference command
3 0xR2nn Arithmetic command
4 0x03nn I/O port command
5 0x04nn Program operation setting command
6 0xR5nn Data handling command
7 0x06nn Utility mode setting operation command
* nn is determined by the particular remote command.

* "R" indicates the number of the robot in question (0~4).
■ ■ Remote Status
Status contents
Meaning
RWrn RWrn + 1 RWrn + 2 From RWrn + 3
0x0000 0x0000 Command ready status
0x0100 0x0000 or response data Command run status
0x0200 Response data Normal end status
0x4000 Alarm group number Alarm category number 0x0000 Abnormal end status
A-4
■ ■ Remote command restrictions:
• All remote commands are disabled when dedicated inputs have been disabled by a safety setting.
• Only the following remote commands are enabled when the programming box has control authority.
Status reset command

Command contents Command code (RWwn)
0x0000
A
Point data reference 0x0101
Point comment data reference 0x0105

Pallet data reference 0x0109
Shift data reference 0x010D
Hand data reference 0x0111
Static variable referencing 0x0214
Parameter referencing 0xR224
Input/output port referencing 0x0304
Version information reference 0x0501
System configuration referencing 0xR502
Servo status reference 0xR503
Current position reference (pulse units) 0xR505
Current position reference (millimeter units) 0xR506
Task status reference 0x0507
Task execution reference 0x0508
Message reference 0x0509
Speed status reference 0xR50A
Arm designation status reference 0xR50B
Arm status reference 0xR50C
Return-to-origin status reference 0xR50F
Current torque value (percentage of max. torque) reference 0xR510
In-controller date reference 0x0511
In-controller time reference 0x0512
Option slot module information referencing 0x0513
Inching movement amount referencing 0xR514
Remote command latest alarm referencing 0x0515
Current torque value (percentage of rated torque) reference 0x0516
n 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. Command contents Command code (RWwn)
1-1 MOVE command PTP point designation 0xR001
A Arch designation
Linear interpolation
Circular interpolation
0xR002
0xR003
0xR004
Direct PTP designation Millimeter units 0xR006
Pulse units 0xR007
1-2 MOVEI command PTP point designation 0xR009

Linear interpolation 0xR00A
Direct PTP designation Millimeter units 0xR00E
Pulse units 0xR00F
1-3 DRIVE command Point designation 0xR010
Direct designation Millimeter units 0xR012
Pulse units 0xR013
1-4 DRIVEI command Point designation 0xR014
Pulse units 0xR017
1-5 Pallet command PTP designation 0xR018
Arch designation 0xR019
1-6 Jog movement command Pulse units 0xR020
Cartesian coordinate system units 0xR021
Tool coordinate system 0xR022
1-7 Inching movement command Pulse units 0xR024
1-8 Inching movement amount setting command 0xR027
1-9 Point teaching command 0xR028
1-10 Absolute reset movement command 0xR030
1-11 Absolute reset command 0xR031
1-12 Return-to-origin command Robot units 0xR032
Axis units 0xR033
1-13 Servo command On designation 0xR034
Off designation 0xR035
Free designation 0xR036
1-14 Manual movement speed change command 0xR038
1-15 Automatic movement speed change command 0xR039
1-16 Program movement speed change command 0xR03A
1-17 Shift designation change command 0xR03B
1-18 Hand designation change command 0xR03C
1-19 Arm designation change command 0xR03D
1-20 Motor power command OFF 0x0041
ON 0x0042
PWR 0x0043
1-21 MOVET command PTP point designation 0xR044
Linear interpolation 0xR045
1-22 Max. torque command value change command 0xR048
1-23 PUSH operation command Point designation 0xR04B
Direct designation Millimeter units 0xR04C
Pulse units 0xR04D
* The 1-3 DRIVE movement command, the 1-4 DRIVEI movement command, and the 1-23 PUSH operation command are valid only for
1 axis unit.
A-6
■ ■ Categor y 2
2-1 Point-related command Point data definition 0x0100
2-2 Point comment-related command

Point data reference
Point comment data definition
Point comment data reference
0x0101
0x0104
0x0105
A
2-3 Pallet-related command Pallet data definition 0x0108

2-4 Shift-related command Shift data definition 0x010C
2-5 Hand-related command Hand data definition 0xR110
Hand data reference 0x0111
■ ■ Categor y 3
3-1 Static variable-related commands Assignment Value 0x0200
Variable 0x0201
Addition Value 0x0204
Variable 0x0205
Subtraction Value 0x0208
Variable 0x0209
Multiplication Value 0x020C
Variable 0x020D
Division Value 0x0210
Variable 0x0211
Reference Variable 0x0214
3-2 Parameter-related command Assignment 0xR220
Reference 0xR224
3-3 Point-related command Point assignment 0x0230
Addition 0x0234
Subtraction 0x0235
Pallet point assignment 0x0238
Point element Pulse units input format 0x0240
assignment
Millimeter units input format 0x0241
Shift element Millimeter units input format 0x0245
assignment
■ ■ Categor y 4
4-1 I/O port-related commands Assignment Port units 0x0300
Bit units 0x0301
Reference Port units 0x0304
■ ■ Categor y 5
5-1 Execution program designation 0x0401
5-2 Program execution Program execution 0x0402
Program step execution 0x0403
Program skip execution 0x0404
Program next execution 0x0405
5-3 Program reset 0x0406
5-4 Program execution information reference 0x0408
A-7
■ ■ Categor y 6
6-1 Version information reference 0x0501
A 6-2
6-3
6-4
System configuration referencing
Servo status reference
Current position reference Pulse units
0xR502
0xR503
0xR505
Millimeter units 0xR506
6-5 Task status reference 0x0507
6-6 Task execution reference 0x0508

6-7 Message reference 0x0509
6-8 Speed status reference 0xR50A
6-9 Arm designation status reference 0xR50B
6-10 Arm status reference 0xR50C
6-11 Return-to-origin status reference 0xR50F
6-12 Current torque value (percentage of max. torque) reference 0xR510
6-13 In-controller date reference 0x0511
6-14 In-controller time reference 0x0512
6-15 Option slot module information referencing 0x0513
6-16 Inching movement amount referencing 0xR514
6-17 Remote command latest alarm referencing 0x0515
6-18 Current torque value (percentage of rated torque) reference 0x0516
■ ■ Categor y 7
7-1 In-controller date setting operation 0x0602
7-2 In-controller time setting operation 0x0603
7-3 Alarm reset command 0x0604
A-8
4. Remote command description
4.1 Status reset command
This command is executed to set the status to command ready status (0x0000).
A
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.

■ ■ Command
Address Contents Value
RWwn Command code 0x0000
RWwn + 1 Not used 0x0000
to
RWwn + 15
■ ■ Status
RWrn Status code
RWrn + 1 Response
0x0000
to
RWrn + 15
A-9
4.2 Categor y 1 remote commands
These are remote commands mainly for movement commands.
A
1-1 MOVE command PTP point designation 0xR001
Circular interpolation 0xR004
Direct PTP designation Millimeter units 0xR006

Pulse units 0xR007
1-2 MOVEI command PTP point designation 0xR009
Linear interpolation 0xR00A
Direct PTP designation Millimeter units 0xR00E
Pulse units 0xR00F
1-3 DRIVE command Point designation 0xR010
Pulse units 0xR013
1-4 DRIVEI command Point designation 0xR014
Pulse units 0xR017
1-5 Pallet command PTP designation 0xR018
1-6 Jog movement command Pulse units 0xR020
1-7 Inching movement command Pulse units 0xR024
1-8 Inching movement amount setting command 0xR027
1-9 Point teaching command 0xR028
1-10 Absolute reset movement command 0xR030
1-11 Absolute reset command 0xR031
1-12 Return-to-origin command Robot units 0xR032
Axis units 0xR033
1-13 Servo command On designation 0xR034
Off designation 0xR035
Free designation 0xR036
1-14 Manual movement speed change command 0xR038
1-15 Automatic movement speed change command 0xR039
1-16 Program movement speed change command 0xR03A
1-17 Shift designation change command 0xR03B
1-18 Hand designation change command 0xR03C
1-19 Arm designation change command 0xR03D
1-20 Motor power command OFF 0x0041
ON 0x0042
PWR 0x0043
1-21 MOVET command PTP point designation 0xR044
1-22 Max. torque command value change command 0xR048
1-23 PUSH operation command Point designation 0xR04B
Direct designation Millimeter units 0xR04C
Pulse units 0xR04D
* The 1-3 DRIVE movement command, the 1-4 DRIVEI movement command, and the 1-23 PUSH operation command are valid only for
1 axis unit.
A-10
4.2.1 MOVE command
Execute this command group to move the robot to an absolute position.
A
● ● PTP designation
This command moves the robot to a target position in PTP motion by specifying the point number.
■ ■ Command

RWwn Command code bit 11 – bit 0 0xR001
Robot designation bit 15 – bit 12 Robot number
RWwn + 1 Command flag bit 0 Axis designation flag a
bit 2 – bit 1 Speed designation flag bb
bit 4 – bit 3 (0: Fixed) 0
bit 5 Acceleration designation flag d
bit 6 Deceleration designation flag e
bit 14 Current position output p
designation flag (Pulse units)
bit 15 Current position output m
designation flag (Millimeter units)
RWwn + 2 Specified axis to move bit 0 Axis 1 0x00tt
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 + 3 Specified speed 0xssss
RWwn + 4 Point number 0xpppp
to
RWwn + 9
RWwn + 10 Acceleration designation 0xrrrr
RWwn + 11 Deceleration designation 0xrrrr
to
RWwn + 15
R : Designates the robot number (0~4).

If "0" is set (no robot number designated), Robot 1 will be selected.
a : Specify in 1 bit whether all axes are designated.
Value Meaning
0 All axes are specified.
1 One or more axes are specified.
bb : Specify the speed setting method in 2 bits.

When specifying the robot speed directly, the desired speed is entered as a percentage of the robot's
max. speed. (The 0.01% to 100.00% setting is represented by a setting value multiplied by 100.)
Value Meaning Reference range

00 Speed is not specified. -
01 Direct speed is specified. 1 to 10000
10 Speed is specified in %. 1 to 100
d : Specify in 1 bit whether to set acceleration.
Value Meaning
0 Acceleration is not specified.
1 Acceleration is specified.
A-11
e : Specify in 1 bit whether to set deceleration.
Value Meaning
0 Deceleration is not specified.
A
1 Deceleration is specified.
p, m : Specify in 1 bit whether to output current position.
Value Meaning
0 No output.
1 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 : Specify the speed in 16 bits.
pppp : Specify the point number in 16 bits.
Specified range: 0 (=0x0000) to 29999 (=0x752F)
rrrr : Specify the acceleration and deceleration in 16 bits.
Specified range: 1 (=0x0001) to 100 (=0x0064)
■ ■ Status
Normal end
RWrn Status code 0x0200
RWrn + 1 Not used 0x0000
RWrn + 2
RWrn + 3
RWrn + 4 Axis-1 data 0xbbbbbbbb
RWrn + 5
RWrn + 7
RWrn + 9
RWrn + 11
RWrn + 13
RWrn + 15
bbbbbbbb : Shows the current position output data in 32 bits. (little endian)
Data is shown in integers when point display units are in pulses.
Data is shown in integers (x1000) when point display units are in millimeters.
The point units system conforms to the unit system which has been specified for the current position
output flag.
Abnormal end
RWrn + 1 Alarm group number 0xaaaa
RWrn + 2 Alarm category number 0xbbbb
to
RWrn + 15
aaaa : Indicates the alarm group number

bbbb : Indicates the alarm category number
A-12
Example: Address Value
Specify the MOVE command with PTP designation as RWwn 0x0001
shown at right, when moving all axes of the Robot 1 to RWwn + 1 0x4004
A
point number 100 at 50% speed and with the current RWwn + 2 0x0000
position being output in pulse units. 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
Values are expressed as shown at right when the axis Address Value
current positions are as follows: RWrn 0x0200
Axis 1 = 123456 RWrn + 1 0x0000
Axis 2 = -123 RWrn + 2 0x0000
Other axes =0 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-13
● ● Arch designation
This command moves the robot to a target position in arch motion by specifying the point number, arch axis
and arch data.
A ■ ■ Command

bit 2 − bit 1 Speed designation flag bb
bit 3 (0: Fixed) 0
bit 4 Arch data unit flag d
RWwn + 2 Specified axis to move bit 0 Axis 1 0xuutt
bit 1 Axis 2
bit 2 Axis 3
bit 3 Axis 4
bit 4 Axis 5
bit 5 Axis 6
Arch designation axis bit 8 Axis 1
bit 9 Axis 2
bit 10 Axis 3
bit 11 Axis 4
bit 12 Axis 5
bit 13 Axis 6
RWwn + 6
RWwn + 7
RWwn + 8 Arch position 0xqqqqqqqq
RWwn + 9
RWwn + 10 Arch distance 1 0xqqqqqqqq
RWwn + 11
RWwn + 13
RWwn + 15

a : Specify in 1 bit how to designate axis.
Value Meaning


A-14
d : Specify the arch data units in 1 bit.
Value Meaning
0 Pulse units
A
1 Millimeter units
Value Meaning
0 No output.

1 Output.
tt : Specify the axis to move in bit pattern using lower 8 bits.

Valid when axis designation flag is 1.
uu : Specify the arch motion axis in bit pattern using upper 8 bits.
Specified arch axis is one axis only.
qqqqqqqq : Specify the arch position or the arch distance in 32 bits. (little endian)
Data should be integers when units are in pulses.
Data should be integers (x1000) when units are in millimeters.
2. Other axes movement
Arch-specified axis = 0
Overlap area
Arch distance 1 Arch distance 2
1. Arch-specified axis 3. Arch-specified axis

movement movement
Current position Target position
1. The arch-specified axis starts moving to the position specified by the option.
("1" shown in the figure above)
2. When the arch-specified axis moves arch distance 1 value or more,
other axes move to their target positions. ("2" shown in the figure above)
3. The arch-specified axis moves to the target position so that the remaining distance becomes the
arch distance 2 when the movement of other axes is completed. ("3" shown in the figure above)
4. When all axes enter the OUT valid position range, the command is completed.
■ ■ Status
Normal end
RWrn + 2
RWrn + 3
RWrn + 5
RWrn + 7
RWrn + 9
RWrn + 11
RWrn + 13
RWrn + 15
A-15
A
output flag.
Abnormal end

to
RWrn + 15


Specify the MOVE command with arch designation as RWwn 0x0002
shown at right, when moving all axes of the Robot 1 to RWwn + 1 0x8014
point number 100 at 50% speed by way of a Z-axis RWwn + 2 0x0400
arch position of 1.000mm, and with the current RWwn + 3 0x0032
position being output in millimeter units. 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
Axis 1 = 12.345 Address Value
Axis 2 = -0.123 RWrn 0x0200

RWrn + 1 0x0000
Axis 3 = 5.000
RWrn + 2 0x0000
Axis 4 = 9.023
RWrn + 3 0x0000
Other axes = 0.000
RWrn + 4 0x3039
Values are expressed as shown at right. 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-16
● ● Linear interpolation
This command moves the robot to a target position by linear interpolation by specifying the point number.
■ ■ Command
Address
RWwn Command code bit 11 – bit 0
Contents Value
0xR003
A
RWwn + 1 Command flag bit 0 (0: Fixed) a

bit 4 − bit 3 (0: Fixed) 0
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)
to
RWwn + 9
to
RWwn + 15

Value Meaning


11 Speed is specified in mm/s. For SCARA robots: 1 to 1000
For all other robots: 1 to 750
Value Meaning

A-17
Value Meaning
A
Value Meaning
0 No output.
1 Output.

■ ■ Status
Normal end
RWrn + 2
RWrn + 3
RWrn + 5
RWrn + 7
RWrn + 9
RWrn + 11
RWrn + 13
RWrn + 15
output flag.
Abnormal end
to
RWrn + 15

A-18
Specify the MOVE command with linear interpolation RWwn 0x0003
as shown at right, when moving all axes of the Robot 1 RWwn + 1 0x8026
A
to point number 100 at a speed of 200 mm/s and at RWwn + 2 0x0000
50% acceleration, and with the current position being RWwn + 3 0x00C8
output in millimeters. 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 2 = -0.123 RWrn 0x0200
Axis 3 = 5.000 RWrn + 1 0x0000

RWrn + 2 0x0000
Axis 4 = 9.023
RWrn + 3 0x0000
Other axes = 0.000
RWrn + 4 0x3039
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
● ● Circular interpolation
This command moves the robot to a target position by circular interpolation by specifying two point numbers.
■ ■ Command
A Address
Contents Value
0xR004
RWwn + 1 Command flag bit 0 (0: Fixed) 0

RWwn + 4 First point number 0xpppp
RWwn + 5 Second point number 0xpppp
to
RWwn + 9
to
RWwn + 15


Value Meaning
e : Specifies in 1 bit whether to set deceleration.
Value Meaning
Value Meaning
0 No output.
1 Output.
A-20
pppp : Specify the first and second point numbers in 16 bits.
A
■ ■ Status
Normal end

RWrn + 2
RWrn + 3
RWrn + 5
RWrn + 7
RWrn + 9
RWrn + 11
RWrn + 13
RWrn + 15
output flag.
Abnormal end
to
RWrn + 15

A-21
Specify the MOVE command with circular RWwn 0x0004
interpolation as shown at right, when moving all axes RWwn + 1 0x8044
A
of the Robot 1 to point numbers 100 and 101 at 20% RWwn + 2 0x0000
speed and 50% deceleration, and with the current RWwn + 3 0x0014
position being output in millimeters. 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

RWrn 0x0200
Axis 2 = -0.123
RWrn + 1 0x0000
Axis 3 = 5.000
RWrn + 2 0x0000
Axis 4 = 9.023 RWrn + 3 0x0000
Other axes = 0.000 RWrn + 4 0x3039
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-22
● ● Direct PTP designation (millimeter units)
This command moves the robot to a target position in PTP motion by directly specifying the data in millimeters.
■ ■ Command
Address
Contents Value
0xR006
A

bit 4 – bit 3 Hand system cc
bit 8 – bit 5 Number 1 arm rotation information xr
bit 12 – bit 9 Number 2 arm rotation information yr
bit 13 (0: Fixed) 0
bit 1 Axis 2
bit 2 Axis 3
bit 3 Axis 4
bit 4 Axis 5
bit 5 Axis 6
RWwn + 4 Axis-1 data 0xpppppppp
RWwn + 5
RWwn + 7
RWwn + 9
RWwn + 11
RWwn + 13
RWwn + 15

Value Meaning


cc : Specify the hand system in 2 bits.

Only for SCARA robot settings in millimeters.
Value Meaning
01 Specifies a right-handed system.
10 Specifies a left-handed system.
Other No hand system is specified.
A-23
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".
A
Value Meaning
0001 1
1111 −1
Other 0

Value Meaning
0 No output.
1 Output.

pppppppp : Specify the target position data for each axis in 32 bits. (little endian)
Data should be integers (x1000) in millimeter units.
c 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 "Operator’s Manual for RCX3 Series controller".
■ ■ Status
Normal end
RWrn + 2
RWrn + 3
RWrn + 5
RWrn + 7
RWrn + 9
RWrn + 11
RWrn + 13
RWrn + 15
output flag.
A-24
Abnormal end
A
to
RWrn + 15

Example:
Address Value
Specify the MOVE command with direct PTP
RWwn 0x0006
designation (millimeter units) as shown at right, when
moving all axes of the Robot 1 to the following points RWwn + 1 0x8004
at 50% speed, and with the current position being RWwn + 2 0x0000

RWwn + 4 0x2710
Axis 1 = 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
Other axes = 0.000 RWwn + 9 0x0000
RWwn + 10 0xB9B0
RWwn + 11 0xFFFF
RWwn + 12 0x0000
RWwn + 13 0x0000
RWwn + 14 0x0000
RWwn + 15 0x0000
Values are expressed as shown at right when executed

Address Value
correctly.
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
● ● Direct PTP designation (pulse units)
This command moves the robot to a target position in PTP motion by directly specifying the data in pulses.
■ ■ Command
A Address
Contents Value
0xR007

bit 1 Axis 2
bit 2 Axis 3
bit 3 Axis 4
bit 4 Axis 5
bit 5 Axis 6
RWwn + 5
RWwn + 7
RWwn + 9
RWwn + 11
RWwn + 13
RWwn + 15

Value Meaning


Value Meaning
0 No output.
1 Output.
A-26
A
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 + 2
RWrn + 3
RWrn + 5
RWrn + 7
RWrn + 9
RWrn + 11
RWrn + 13
RWrn + 15
output flag.
Abnormal end
to
RWrn + 15

A-27
Specify the MOVE command with direct designation RWwn 0x0007
PTP (pulse units) as shown at right, when moving all RWwn + 1 0x4004
A
axes of the Robot 1 to the following points at 50% RWwn + 2 0x0000
speed, and with the current position being output in RWwn + 3 0x0032
pulses. RWwn + 4 0x86A0
Axis 1 = 100000 RWwn + 5 0x0001
Axis 2 = -200000 RWwn + 6 0xF2C0
Axis 3 = 50000 RWwn + 7 0xFFFC

RWwn + 8 0xC350
Axis 4 = -180000
RWwn + 9 0x0000
Other axes =0
RWwn + 10 0x40E0
RWwn + 11 0xFFFD
RWwn + 12 0x0000
RWwn + 13 0x0000
RWwn + 14 0x0000
RWwn + 15 0x0000

Address Value
correctly.
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
A-28
4.2.2 MOVEI command
Execute this command group to move the robot to a relative position.
A
This command moves the robot a specified distance in PTP motion by specifying the point number.
n 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
bit 1 Axis 2
bit 2 Axis 3
bit 3 Axis 4
bit 4 Axis 5
bit 5 Axis 6
to
RWwn + 9
to
RWwn + 15

Value Meaning


A-29
Value Meaning
A
Value Meaning
Value Meaning
0 No output.
1 Output.

ssss : Specify the movement speed in 16 bits.
■ ■ Status
Normal end
RWrn + 2
RWrn + 3
RWrn + 5
RWrn + 7
RWrn + 9
RWrn + 11
RWrn + 13
RWrn + 15
output flag.
Abnormal end
to
RWrn + 15

A-30
Specify the MOVEI command with PTP designation as RWwn 0x0009
shown at right, when moving all axes of the Robot 1 a RWwn + 1 0x4004
A
distance specified by point number 100 at 50% speed, RWwn + 2 0x0000
and with the current position being output in pulses. 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
Axis 1 = 123456 Address Value
Axis 2 = -123 RWrn 0x0200

RWrn + 1 0x0000
Other axes =0
RWrn + 2 0x0000
Values are expressed as shown at right.
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
This command moves the robot a specified distance in linear interpolation motion by specifying the point
number.
A n NOTE
■ ■ Command
RWwn Command code bit 11 – bit 0 0xR00A
bit 1 Axis 2
bit 2 Axis 3
bit 3 Axis 4
bit 4 Axis 5
bit 5 Axis 6
to
RWwn + 9
to
RWwn + 15

Value Meaning


A-32
Value Meaning
A


Value Meaning
Value Meaning
0 No output.
1 Output.

■ ■ Status
Normal end
RWrn + 2
RWrn + 3
RWrn + 5
RWrn + 7
RWrn + 9
RWrn + 11
RWrn + 13
RWrn + 15
output flag.
A-33
Abnormal end
m Status code 0x4000
A
m+2 Alarm group number 0xaaaa
m+4 Alarm category number 0xbbbb
to
RWrn + 15


Specify the MOVEI command with linear interpolation RWwn 0x000A
the distance specified by point number 100 at a speed RWwn + 2 0x0000
of 200 mm/s and at 50% acceleration, and with the RWwn + 3 0x00C8
current position being output in millimeters. 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

Axis 2 = -0.123 RWrn 0x0200
Axis 3 = 5.000 RWrn + 1 0x0000

RWrn + 2 0x0000
Axis 4 = 9.023
RWrn + 3 0x0000
Other axes = 0.000
RWrn + 4 0x3039
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-34
● ● Direct PTP designation (millimeter units)
This command moves the robot a specified distance in PTP motion by directly specifying the data in
millimeters.
n NOTE
A

■ ■ Command
RWwn Command code bit 11 – bit 0 0xR00E
bit 4 – bit 3 Hand system cc
bit 8 – bit 5 Number 1 arm rotation information xr
bit 12 – bit 9 Number 2 arm rotation information yr
bit 13 (0: Fixed) 0
bit 1 Axis 2
bit 2 Axis 3
bit 3 Axis 4
bit 4 Axis 5
bit 5 Axis 6
RWwn + 5
RWwn + 7
RWwn + 9
RWwn + 11
RWwn + 13
RWwn + 15

Value Meaning


A-35
cc : Specify the hand system in 2 bits.
Only for SCARA robot settings in millimeters.
Value Meaning
A
01 Specifies a right-handed system.
10 Specifies a left-handed system.
Other No hand system is specified.
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 Meaning
0001 1
1111 −1
Other 0
Value Meaning
0 No output.
1 Output.

pppppppp : Specify the target movement distance data for each axis in 32 bits. (little endian)
c CAUTION
(*1)
■ ■ Status
Normal end
RWrn + 2
RWrn + 3
RWrn + 5
RWrn + 7
RWrn + 9
RWrn + 11
RWrn + 13
RWrn + 15
output flag.
A-36
Abnormal end
A
to
RWrn + 15

Example:
Specify the MOVEI command with direct PTP Address Value
designation (millimeter units) as shown at right, when RWwn 0x000E

moving all axes of the Robot 1 a distance specified by RWwn + 1 0x8004
the following points from "0.000" mm positions at 50% RWwn + 2 0x0000
speed, and with the current position being output in RWwn + 3 0x0032
millimeters. RWwn + 4 0x2710
Axis 1 = 10.000 RWwn + 5 0x0000

RWwn + 6 0xB1E0
Axis 2 = -20.000
RWwn + 7 0xFFFF
Axis 3 = 5.000
RWwn + 8 0x1388
Axis 4 = -18.000
RWwn + 9 0x0000
Other axes = 0.000 RWwn + 10 0xB9B0
RWwn + 11 0xFFFF
RWwn + 12 0x0000
RWwn + 13 0x0000
RWwn + 14 0x0000
RWwn + 15 0x0000

Axis 2 = -0.123 RWrn 0x0200
Axis 3 = 5.000 RWrn + 1 0x0000

RWrn + 2 0x0000
Axis 4 = 9.023
RWrn + 3 0x0000
Other axes = 0.000
RWrn + 4 0x2710
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-37
● ● Direct PTP designation (pulse units)
This command moves the robot a specified distance in PTP motion by directly specifying the data in pulses.
A n NOTE
■ ■ Command
RWwn Command code bit 11 – bit 0 0xR00F
bit 1 Axis 2
bit 2 Axis 3
bit 3 Axis 4
bit 4 Axis 5
bit 5 Axis 6
RWwn + 5
RWwn + 7
RWwn + 19
RWwn + 11
RWwn + 13
RWwn + 15

Value Meaning


A-38
Value Meaning
0 No output.
A
1 Output.

■ ■ Status
Normal end
RWrn + 2
RWrn + 3
RWrn + 5
RWrn + 7
RWrn + 9
RWrn + 11
RWrn + 13
RWrn + 15
output flag.
Abnormal end
to
RWrn + 15

A-39
Specify the MOVEI command with direct PTP RWwn 0x000F
designation (pulse units) as shown at right, when RWwn + 1 0x4004
A
moving all axes of the Robot 1 a distance specified by RWwn + 2 0x0000
the following points from "0" pulse positions at 50% RWwn + 3 0x0032
speed, and with the current position being output. RWwn + 4 0x86A0
Axis 1 = 100000 RWwn + 5 0x0001
Axis 2 = -200000 RWwn + 6 0xF2C0
Axis 3 = 50000 RWwn + 7 0xFFFC

RWwn + 8 0xC350
Axis 4 = -180000
RWwn + 9 0x0000
Other axes =0
RWwn + 10 0x40E0
RWwn + 11 0xFFFD
RWwn + 12 0x0000
RWwn + 13 0x0000
RWwn + 14 0x0000
RWwn + 15 0x0000
Values are expressed as shown at right when executed Address Value

correctly. 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
A-40
4.2.3 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
A
number.
■ ■ Command

RWwn + 1 Command flag bit 0 (1:Fixed) 1
bit 1 Axis 2
bit 2 Axis 3
bit 3 Axis 4
bit 4 Axis 5
bit 5 Axis 6
to
RWwn + 15


Value Meaning
0 No output.
1 Output.

Only one axis can be specified.
A-41
■ ■ Status
Normal end
A
RWrn + 2
RWrn + 3

RWrn + 5
RWrn + 7
RWrn + 9
RWrn + 11
RWrn + 13
RWrn + 15
output flag.
Abnormal end
to
RWrn + 15

A-42
Specify the DRIVE command with point designation as RWwn 0x0010
shown at right, to move axis 3 of the Robot 1 to point RWwn + 1 0x4005
A
number 100 at 50% speed and with the current RWwn + 2 0x0004
position being output in pulses units. 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

RWrn 0x0200
Axis 2 = -123
RWrn + 1 0x0000
Other axes =0
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
● ● Direct designation (millimeter units)
This command moves the specified axis of the robot to a target position in PTP motion by directly specifying
the data in millimeters.
A ■ ■ Command

bit 1 Axis 2
bit 2 Axis 3
bit 3 Axis 4
bit 4 Axis 5
bit 5 Axis 6
RWwn + 4 Movement data 0xpppppppp
RWwn + 5
to
RWwn + 15


Value Meaning
0 No output.
1 Output.

pppppppp : Specify target position data for specified axis in 32 bits. (little endian)
Data should be integers (x 1000) in millimeter units.
A-44
■ ■ Status
Normal end
A
RWrn + 2
RWrn + 3

RWrn + 5
RWrn + 7
RWrn + 9
RWrn + 11
RWrn + 13
RWrn + 15
output flag.
Abnormal end
to
RWrn + 15

A-45
Specify the DRIVE command with direct designation RWwn 0x0012
(millimeter units) as shown at right, to move axis 3 of RWwn + 1 0x8005
A
the Robot 1 to a position of "5.000" mm at 50% speed, RWwn + 2 0x0004
and with the current position being output in RWwn + 3 0x0032
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
Axis 2 = -20.000 RWrn 0x0200

RWrn + 1 0x0000
Axis 3 = 5.000
RWrn + 2 0x0000
Axis 4 = -18.000
RWrn + 3 0x0000
Other axes = 0.000
RWrn + 4 0x2710
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-46
● ● Direct designation (pulse units)
the data in pulses.
■ ■ Command
A

bit 1 Axis 2
bit 2 Axis 3
bit 3 Axis 4
bit 4 Axis 5
bit 5 Axis 6
RWwn + 5
to
RWwn + 15


Value Meaning
0 No output.
1 Output.

pppppppp : Specify the target position data for specified axis in 32 bits. (little endian)
A-47
■ ■ Status
Normal end
A
RWrn + 2
RWrn + 3

RWrn + 5
RWrn + 7
RWrn + 9
RWrn + 11
RWrn + 13
RWrn + 15
output flag.
Abnormal end
to
RWrn + 15

A-48
Specify the DRIVE command with direct designation RWwn 0x0013
(pulse units) as shown at right, to move axis 3 of the RWwn + 1 0x4005
A
Robot 1 to a position of "5000" pulses at 50% speed, RWwn + 2 0x0004
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
Axis 1 = 10000
RWrn 0x0200
Axis 2 = -20000
RWrn + 1 0x0000
Axis 3 = 5000
RWrn + 2 0x0000
Axis 4 = -18000 RWrn + 3 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
4.2.4 DRIVEI command
Execute this command group to move the specified axis of the robot to a relative position. Valid only for a
single axis.
A ● ● Point designation
This command moves the specified axis of the robot in PTP motion a distance by specifying the point number.
n NOTE
• If the DRIVEI command is interrupted and then re-executed, the resumed motion that occurs either to the
when DRIVEI is interrupted and then re-executed).
■ ■ Command
bit 1 Axis 2
bit 2 Axis 3
bit 3 Axis 4
bit 4 Axis 5
bit 5 Axis 6
to
RWwn + 15


Value Meaning
0 No output.
1 Output.

A-50
■ ■ Status
Normal end
A
RWrn + 2
RWrn + 3

RWrn + 5
RWrn + 7
RWrn + 9
RWrn + 11
RWrn + 13
RWrn + 15
output flag.
Abnormal end
to
RWrn + 15

A-51
Specify the DRIVEI command with point designation as RWwn 0x0014
shown at right, to move axis 3 of the Robot 1 a RWwn + 1 0x4005
A
distance specified by point number 100 at 50% speed, RWwn + 2 0x0004
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

RWrn 0x0200
Axis 2 = -123
RWrn + 1 0x0000
Other axes =0
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-52
This command moves the specified axis of the robot in PTP motion a distance by directly specifying the data in
millimeters.
n NOTE
A

■ ■ Command
bit 1 Axis 2
bit 2 Axis 3
bit 3 Axis 4
bit 4 Axis 5
bit 5 Axis 6
RWwn + 5
to
RWwn + 15


Value Meaning
0 No output.
1 Output.

pppppppp : Specify the target movement distance data for specified axis in 32 bits. (little endian)
A-53
■ ■ Status
Normal end
A
RWrn + 2
RWrn + 3

RWrn + 5
RWrn + 7
RWrn + 9
RWrn + 11
RWrn + 13
RWrn + 15
output flag.
Abnormal end
to
RWrn + 15

A-54
Specify the DRIVEI command with direct designation RWwn 0x0016
(millimeter units) as shown at right, to move axis 3 a RWwn + 1 0x8005
A
distance equal to "5.000"mm from "0.000" mm position RWwn + 2 0x0004
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
Axis 2 = -20.000 RWrn 0x0200

RWrn + 1 0x0000
Axis 3 = 5.000
RWrn + 2 0x0000
Axis 4 = -18.000
RWrn + 3 0x0000
Other axes = 0.000
RWrn + 4 0x2710
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
This command moves the specified axis of the robot in PTP motion a distance by directly specifying the data in
pulses.
A n NOTE
"MOVEI/DRIVEI start position" setting of other parameters. For details, refer to the controller user's manual.
■ ■ Command
bit 1 Axis 2
bit 2 Axis 3
bit 3 Axis 4
bit 4 Axis 5
bit 5 Axis 6
RWwn + 5
to
RWwn + 15


Value Meaning
0 No output.
1 Output.

pppppppp : Specify the target movement distance data for specified axis in 32 bits. (little endian)
A-56
■ ■ Status
Normal end
A
RWrn + 2
RWrn + 3

RWrn + 5
RWrn + 7
RWrn + 9
RWrn + 11
RWrn + 13
RWrn + 15
output flag.
Abnormal end
to
RWrn + 15

A-57
Specify the DRIVEI command with direct designation RWwn 0x0017
(pulse units) as shown at right, to move axis 3 a RWwn + 1 0x4005
A
distance equal to "5000" pulses from "0" pulse position RWwn + 2 0x0004
output in pulses. 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

RWrn 0x0200
Axis 2 = -20000
RWrn + 1 0x0000
Axis 3 = 5000
RWrn + 2 0x0000
Axis 4 = -18000 RWrn + 3 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-58
4.2.5 Pallet movement command
Execute this command group to move the robot to work positions on a pallet.
A
This command moves the robot to a target position in PTP motion by specifying the pallet number and work
position number.
■ ■ Command

RWwn + 4 Pallet number 0xpppp
RWwn + 5 Work position number 0xwwww
to
RWwn + 9
to
RWwn + 15


Value Meaning
Value Meaning
Value Meaning
0 No output.
1 Output.
A-59
pppp : Specify the pallet number in 16 bits.
A
wwww : Specify the work position number in 16 bits.
Specified range: 1 (=0x0001) to 32767 (=0x7FFF)
■ ■ Status
Normal end
RWrn + 2
RWrn + 3
RWrn + 5
RWrn + 7
RWrn + 9
RWrn + 11
RWrn + 13
RWrn + 15
output flag.
Abnormal end
to
RWrn + 15

A-60
Specify the PMOVE command with PTP designation as RWwn 0x0018
shown at right, when moving the Robot 1 to work RWwn + 1 0x8004
A
position number 21 on pallet number 1 at 70% speed, RWwn + 2 0x0000
and with the current position being output in RWwn + 3 0x0046
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 2 = -0.123 RWrn 0x0200
Axis 3 = 2.000 RWrn + 1 0x0000

RWrn + 2 0x0000
Other axes = 0.000
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
● ● 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.
A ■ ■ Command

bit 3 (0: Fixed) 0
bit 4 Arch data unit flag d
RWwn + 2 Arch designation axis bit 7 − bit 0 (0: Fixed) 0xuu00
bit 8 Axis 1
bit 9 Axis 2
bit 10 Axis 3
bit 11 Axis 4
bit 12 Axis 5
bit 13 Axis 6
RWwn + 4 Pallet number 0xpppp
RWwn + 5 Work position number 0xwwww
RWwn + 7
RWwn + 8 Arch position 0xqqqqqqqq
RWwn + 9
RWwn + 11
RWwn + 13
RWwn + 15


d : Specify the arch data units in 1 bit.
Value Meaning
0 Pulse units
1 Millimeter units
Value Meaning
0 No output.
1 Output.
A-62
A
pppp : Specify the pallet number in 16 bits.
wwww : Specify the work position number in 16 bits.
qqqqqqqq : Specify the arch position or the arch distance in 32 bits. (little endian)

2. Other axes movement

Arch-specified axis = 0
Overlap area
Arch distance 1 Arch distance 2
1. Arch-specified axis 3. Arch-specified axis

movement movement
Current position Target position
1. The arch-specified axis starts moving to the position specified by the option.
("1" shown in the figure above)
2. When the arch-specified axis moves arch distance 1 value or more,
other axes move to their target positions. ("2" shown in the figure above)
3. The arch-specified axis moves to the target position so that the remaining distance becomes the
arch distance 2 when the movement of other axes is completed. ("3" shown in the figure above)
4. When all axes enter the OUT valid position range, the command is completed.
■ ■ Status
Normal end
RWrn + 2
RWrn + 3
RWrn + 5
RWrn + 7
RWrn + 9
RWrn + 11
RWrn + 13
RWrn + 15
output flag.
Abnormal end
to
RWrn + 15
A-63
A
Specify the PMOVE command with arch designation as RWwn 0x0019

shown at right, when moving the Robot 1 to work RWwn + 1 0x8014
position number 32 on pallet number 10 at 70% speed RWwn + 2 0x0400
by way of a Z-axis arch position of 1.000mm, and with RWwn + 3 0x0046
the current position being output in millimeters. 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
Axis 2 = -0.123 RWrn 0x0200

RWrn + 1 0x0000
Axis 3 = 5.000
RWrn + 2 0x0000
Axis 4 = 9.023
RWrn + 3 0x0000
Other axes = 0.000
RWrn + 4 0x3039
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-64
4.2.6 Jog movement command
● ● Pulse unit system jog movement

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. A
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
RWwn + 1 Command flag bit 13 − bit 0 (0: Fixed) 0
RWwn + 2 Axis to move and bit 0 Axis 1 tt
direction bit 1 Axis 2
bit 2 Axis 3
bit 3 Axis 4
bit 4 Axis 5
bit 5 Axis 6
bit 6 (0: Fixed) 0
bit 7 Direction d
to
RWwn + 15

Value Meaning
0 No output.
1 Output.
tt : Specify the axis to move in 0 to 5 bits.

d : Specify the movement direction in 1 bit.
Value Meaning
0 + direction
1 − direction
A-65
■ ■ Status
Normal end
A
RWrn + 2
RWrn + 3

RWrn + 5
RWrn + 7
RWrn + 9
RWrn + 11
RWrn + 13
RWrn + 15
output flag.
Abnormal end (When jog movement is stopped by a stop input)
RWrn + 1 Alarm group number 0x000C
RWrn + 2 Alarm category number 0x0190
RWrn + 5
RWrn + 7
RWrn + 9
RWrn + 11
RWrn + 13
RWrn + 15
output flag.
A-66
Abnormal end (other cases)
A
to
RWrn + 15


Specify the pulse unit system jog command as shown RWwn 0x0020
at right, to move axis 1 of the Robot 1 in the minus (-) RWwn + 1 0x4000
direction, and with the current position being output RWwn + 2 0x0081
in pulses. 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
Values are expressed as shown at right, after robot Address Value

movement with the jog command is stopped by the RWrn 0x4000
stop signal with: RWrn + 1 0x000C
Axis 1 = 12345 RWrn + 2 0x0190
Axis 2 = -123 RWrn + 3 0x0000
Axis 3 = 2000 RWrn + 4 0x3039

RWrn + 5 0x0000
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
● ● Cartesian coordinate system jog movement
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.
A To stop the jog command, set the dedicated input of the stop signal (SI06) to OFF.
■ ■ Command
bit 2 Axis 3
bit 3 Axis 4
bit 4 Axis 5
bit 5 Axis 6
bit 6 (0: Fixed) 0
bit 7 Direction d
to
RWwn + 15

Value Meaning
0 No output.
1 Output.

Value Meaning
0 + direction
1 − direction
A-68
■ ■ Status
Normal end
A
RWrn + 2
RWrn + 3

RWrn + 5
RWrn + 7
RWrn + 9
RWrn + 11
RWrn + 13
RWrn + 15
output flag.
RWrn + 5
RWrn + 7
RWrn + 9
RWrn + 11
RWrn + 13
RWrn + 15
output flag.
A-69
A
to
RWrn + 15

Example:
Specify the Cartesian coordinate system jog movement Address Value
as shown at right, to move axis 1 of the Robot 1 in the RWwn 0x0021
minus (-) direction, and with the current position being RWwn + 1 0x8000
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
Values are expressed as shown at right, after robot

Address Value
movement with the jog command is stopped by the
RWrn 0x4000
stop signal with:
RWrn + 1 0x000C
Axis 1 = 12.345
RWrn + 2 0x0190
Axis 2 = -0.123 RWrn + 3 0x0000
Axis 3 = 2.000 RWrn + 4 0x3039
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-70
● ● Tool coordinate system jog movement
Execute this command to move the robot in jog mode. It performs linear interpolation movement of the tool
coordinate system's 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.
A

■ ■ Command
bit 2 Axis 3
bit 3 Axis 4
bit 4 Axis 5
bit 5 Axis 6
bit 6 (0: Fixed) 0
bit 7 Direction d
to
RWwn + 15

Value Meaning
0 No output.
1 Output.

Value Meaning
0 + direction
1 − direction
A-71
■ ■ Status
Normal end
A
RWrn + 2
RWrn + 3

RWrn + 5
RWrn + 7
RWrn + 9
RWrn + 11
RWrn + 13
RWrn + 15
output flag.
RWrn + 5
RWrn + 7
RWrn + 9
RWrn + 11
RWrn + 13
RWrn + 15
output flag.
A-72
A
to
RWrn + 15

Example:
Address Value
Specify the tool coordinate system jog movement as
RWwn 0x0022
shown at right, to move axis 1 of the Robot 1 in the
RWwn + 1 0x8000
minus (-) direction, and with the current position being
RWwn + 2 0x0081
output in millimeters.
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
Values are expressed as shown at right, after robot

Address Value
movement with the jog command is stopped by the
RWrn 0x4000
stop signal with:
RWrn + 1 0x000C
Axis 1 = 12.345 RWrn + 2 0x0190
Axis 2 = -0.123 RWrn + 3 0x0000
Axis 3 = 2.000 RWrn + 4 0x3039

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-73
4.2.7 Inching movement command
● ● Pulse unit system inching movement
A Execute this command to move the robot by inching.

Inching movement distance is determined by the inching amount setting command.
It performs movement according to the pulse amount specified for the movement axis.
A movement amount setting of "100" results in a movement amount of 100 pulses.
■ ■ Command

bit 2 Axis 3
bit 3 Axis 4
bit 4 Axis 5
bit 5 Axis 6
bit 6 (0: Fixed) 0
bit 7 Direction d
to
RWwn + 15

Value Meaning
0 No output.
1 Output.

Value Meaning
0 + direction
1 - direction
A-74
■ ■ Status
Normal end
A
RWrn + 2
RWrn + 3

RWrn + 5
RWrn + 7
RWrn + 9
RWrn + 11
RWrn + 13
RWrn + 15
output flag.
Abnormal end
to
RWrn + 15

A-75
Specify the pulse unit system inching command as RWwn 0x0024
shown at right, to move axis 2 of the Robot 1 in the RWwn + 1 0x4000
A
plus (+) direction, and with the current position being RWwn + 2 0x0002
output in pulses. An inching amount setting of "50" RWwn + 3 0x0000
results in a movement amount of 50 pulses. 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
Values are expressed as shown at right, after executing Address Value

the pulse unit system inching command and then RWrn 0x0200
stopping point movement with: RWrn + 1 0x0000
Axis 1 = 12345 RWrn + 2 0x0000
Axis 2 = -123 RWrn + 3 0x0000

RWrn + 4 0x3039
Axis 3 = 2000
RWrn + 5 0x0000
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-76
● ● Cartesian coordinate system inching movement
Execute this command to move the robot by inching. Inching movement distance is determined by the inching
amount setting command.
It performs linear interpolation movement in accordance with the specified movement amount, using Cartesian
coordinates.
A movement amount setting of "100" results in a movement amount of 0.1mm.
A
■ ■ Command

bit 2 Axis 3
bit 3 Axis 4
bit 4 Axis 5
bit 5 Axis 6
bit 6 (0: Fixed) 0
bit 7 Direction d
to
RWwn + 15

Value Meaning
0 No output.
1 Output.

Value Meaning
0 + direction
1 - direction
A-77
■ ■ Status
Normal end
A
RWrn + 2
RWrn + 3

RWrn + 5
RWrn + 7
RWrn + 9
RWrn + 11
RWrn + 13
RWrn + 15
output flag.
Abnormal end
to
RWrn + 15

A-78
Specify the Cartesian coordinate system inching RWwn 0x0025
command as shown at right, to move axis 2 of the RWwn + 1 0x8000
A
Robot 1 in the plus (+) direction, and with the current RWwn + 2 0x0002
position being output in millimeters. An inching RWwn + 3 0x0000
amount setting of "50" results in a movement amount RWwn + 4 0x0000
of 0.050mm. 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

the Cartesian coordinate system inching command and RWrn 0x0200
then stopping point movement with: RWrn + 1 0x0000
Axis 1 = 12.345 RWrn + 2 0x0000
Axis 2 = -0.123 RWrn + 3 0x0000

RWrn + 4 0x3039
Axis 3 = 2.000
RWrn + 5 0x0000
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
● ● Tool coordinate system inching movement
Execute this command to move the robot by inching.
Inching movement distance is determined by the inching amount setting command.
A It performs linear interpolation movement in accordance to the movement amount specified for the movement
axis, using the tool coordinate system's Cartesian coordinates.
A movement amount setting of "100" results in a movement amount of 0.1mm.
■ ■ Command

bit 2 Axis 3
bit 3 Axis 4
bit 4 Axis 5
bit 5 Axis 6
bit 6 (0: Fixed) 0
bit 7 Direction d
to
RWwn + 15

Value Meaning
0 No output.
1 Output.

Value Meaning
0 + direction
1 - direction
A-80
■ ■ Status
Normal end
A
RWrn + 2
RWrn + 3

RWrn + 5
RWrn + 7
RWrn + 9
RWrn + 11
RWrn + 13
RWrn + 15
output flag.
Abnormal end
to
RWrn + 15

A-81
Specify the tool coordinate system inching command RWwn 0x0026
as shown at right, to move axis 2 of the Robot 1 in the RWwn + 1 0x8000
A
plus (+) direction, and with the current position being RWwn + 2 0x0002
output in millimeters. An inching amount setting of RWwn + 3 0x0000
"50" results in a movement amount of 0.050mm. 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

the tool coordinate system inching command and then RWrn 0x0200
stopping point movement with: RWrn + 1 0x0000
Axis 1 = 12.345 RWrn + 2 0x0000
Axis 2 = -0.123 RWrn + 3 0x0000

RWrn + 4 0x3039
Axis 3 = 2.000
RWrn + 5 0x0000
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-82
4.2.8 Inching movement amount setting command
This command sets the movement amount for inching movement operations.
A
■ ■ Command

RWwn + 2 Inching movement amount 0xdddd
to
RWwn + 15

dddd : Sets the movement amount. 1 (=0x0001) to 10000 (=0x2710)
■ ■ Status
Normal end
to
RWrn + 15
Abnormal end
to
RWrn + 15

Example:
Use the inching movement amount setting command Address Value
to specify an inching movement amount of "100" for RWwn 0x0027
the Robot 1. RWwn + 1 0x0000

RWwn + 2 0x0064
RWwn + 3 0x0000
to
RWwn + 15

RWrn + 1 0x0000
RWrn + 2 0x0000
RWrn + 3 0x0000
RWrn + 4 0x0000
to
RWrn + 15
A-83
4.2.9 Point teaching command
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.
A ■ ■ Command

RWwn + 3 Point unit 0xaaaa
to
RWwn + 15

Specified range: 0 (= 0x0000) to 29999 (=0x752F)
aaaa : Specifies the point unit system.
Value Meaning
0 Pulse units
1 Millimeter units
■ ■ Status
Normal end
to
RWrn + 15
Abnormal end
to
RWrn + 15

A-84
Use the point teaching command as shown at right, to RWwn 0x0028
teach the Robot 1 current position to point number RWwn + 1 0x0000
A
4000 in pulse units. RWwn + 2 0x0FA0
RWwn + 3 0x0000
RWwn + 4 0x0000
to
RWwn + 15

RWrn + 1 0x0000
RWrn + 2 0x0000
RWrn + 3 0x0000
RWrn + 4 0x0000
to
RWrn + 15
A-85
4.2.10 Absolute reset movement command
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
A rotation of the motor.
■ ■ Command

RWwn + 2 Specified axis to move bit 0 Axis 1 tt
bit 1 Axis 2
bit 2 Axis 3
bit 3 Axis 4
bit 4 Axis 5
bit 5 Axis 6
bit 6 (0: Fixed) 0
bit 7 Direction d
bit 15−bit 8 (0: Fixed) 0
to
RWwn + 15

tt : Specify the axis to perform the return-to-origin in 0 to 5 bits.
Value Meaning
0 + direction
1 - direction
■ ■ Status
Normal end
to
RWrn + 15
Abnormal end
to
RWrn + 15

A-86
Use the absolute reset movement command as shown RWwn 0x0030
at right to move Axis 2 of the Robot 1 in the minus (-) RWwn + 1 0x0000
A
direction to a position capable of absolute reset. RWwn + 2 0x0082
RWwn + 3 0x0000
to
RWwn + 15

RWrn + 1 0x0000
RWrn + 2 0x0000
RWrn + 3 0x0000
RWrn + 4 0x0000
to
RWrn + 15
A-87
4.2.11 Absolute reset command
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.
A ■ ■ Command

bit 1 Axis 2
bit 2 Axis 3
bit 3 Axis 4
bit 4 Axis 5
bit 5 Axis 6
to
RWwn + 15

tt : Specify the axis to perform absolute reset in 0 to 5 bits.
An error occurs if no axis has been specified.
■ ■ Status
Normal end
to
RWrn + 15
Abnormal end
to
RWrn + 15

A-88
Use this command as shown at right, to perform RWwn 0x0031
absolute reset on axis 2 of the Robot 1. RWwn + 1 0x0000
A
RWwn + 2 0x0002
RWwn + 3 0x0000
to
RWwn + 15

RWrn + 1 0x0000
RWrn + 2 0x0000
RWrn + 3 0x0000
RWrn + 4 0x0000
to
RWrn + 15
A-89
4.2.12 Return-to-origin command
● ● Return-to-origin in robot units
A This command executes return-to-origin in robot units.

When this command is executed on an incremental and absolute type axes, the axis moves to its origin.
When executed on a semi-absolute type axis, an absolute search is performed on that axis.
If no particular robot has been specified, a return-to-origin will be performed at all robots.
■ ■ Command

bit 1 Incremental type axis a
designation flag
bit 2 Absolute type axis b
designation flag
bit 3 "Return-to-origin incomplete" c
axis designation flag
to
RWwn + 15

If no particular robot number has been specified (=0), the operation is performed at all robots.
a, b, c : Specifies the details (in 1 bit) of the axis performed the return-to-origin.
Value Meaning
0 Details absent
1 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
to
RWrn + 15
Abnormal end
RWrn + 1 Alarm group number 0xaabb
RWrn + 2 Alarm category number 0xccdd
to
RWrn + 15

A-90
return-to-origin on all axes of the Robot 1. RWwn + 1 0x0000
A
RWwn + 2 0x0000
to
RWwn + 15

Address Value
correctly.
RWrn 0x0200
RWrn + 1 0x0000
RWrn + 2 0x0000
RWrn + 3 0x0000
RWrn + 4 0x0000
to
RWrn + 15
A-91
● ● Return-to-origin in axis units
This command executes return-to-origin in axis units.
When this command is executed on an incremental and absolute type axes, the axis moves to its origin.
A When executed on a semi-absolute mode axis, an absolute search is performed on that axis.
If no particular robot is specified, a return-to-origin will be performed at the specified axis of Robot 1.
■ ■ Command

bit 1 Axis 2
bit 2 Axis 3
bit 3 Axis 4
bit 4 Axis 5
bit 5 Axis 6
to
RWwn + 15

tt : Specify the axis to perform the return-to-origin in 0 to 5 bits.
■ ■ Status
Normal end
to
RWrn + 15
Abnormal end
RWrn + 1 Alarm group number 0xaabb
RWrn + 2 Alarm category number 0xccdd
to
RWrn + 15

A-92
return-to-origin on axis 1 of the Robot 1. RWwn + 1 0x0000
A
RWwn + 2 0x0001
RWwn + 3 0x0000
to
RWwn + 15

Address Value
correctly.
RWrn 0x0200
RWrn + 1 0x0000
RWrn + 2 0x0000
RWrn + 3 0x0000
RWrn + 4 0x0000
to
RWrn + 15
A-93
4.2.13 Ser vo command
Execute this command group to operate the robot servo status.
Ser vo ON :
A 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
RWwn Command code Servo ON bit 11 – bit 0 0xR034
Command code Servo OFF bit 11 – bit 0 0xR035
Command code Servo Free bit 11 – bit 0 0xR036
RWwn + 2 Specified axis bit 0 Axis 1 0x00tt
bit 1 Axis 2
bit 2 Axis 3
bit 3 Axis 4
bit 4 Axis 5
bit 5 Axis 6
to
RWwn + 15

tt : Specify the axis to occur servo control in 0 to 5 bits.
All axes are processed if no axis is specified.
■ ■ Status
Normal end
to
RWrn + 15
Abnormal end
to
RWrn + 15

A-94
Example:
Address Value
Use the servo command as shown at right, to free the RWwn 0x0036
servo status at axis 4 of the Robot 1. RWwn + 1 0x0000
A
RWwn + 2 0x0008
RWwn + 3 0x0000
to
RWwn + 15

RWrn + 1 0x0000
RWrn + 2 0x0000
RWrn + 3 0x0000
RWrn + 4 0x0000
to
RWrn + 15
A-95
4.2.14 Manual movement speed change command
Execute this command to change the robot's manual movement speed.
A
■ ■ Command

to
RWwn + 15
ssss : Specify the manual movement speed in 16 bits.

■ ■ Status
Normal end
to
RWrn + 15
Abnormal end
to
RWrn + 15

Example:
Use the manual movement speed change command as Address Value
shown at right, to set the manual movement speed of RWwn 0x0038
the Robot 1 to 20%.
RWwn + 1 0x0000
RWwn + 2 0x0014
RWwn + 3 0x0000
to
RWwn + 15

RWrn + 1 0x0000
RWrn + 2 0x0000
RWrn + 3 0x0000
RWrn + 4 0x0000
to
RWrn + 15
A-96
4.2.15 Automatic movement speed change command
Execute this command to change the robot's automatic movement speed.
A
■ ■ Command

to
RWwn + 15
ssss : Specify the automatic movement speed in 16 bits.

■ ■ Status
Normal end
to
RWrn + 15
Abnormal end
to
RWrn + 15

Example:
Use the automatic movement speed change command
Address Value
as shown at right, to set the automatic movement
RWwn 0x0039
speed of the Robot 1 to 80%.
RWwn + 1 0x0000
RWwn + 2 0x0050
RWwn + 3 0x0000
to
RWwn + 15

correctly.
RWrn 0x0200
RWrn + 1 0x0000
RWrn + 2 0x0000
RWrn + 3 0x0000
RWrn + 4 0x0000
to
RWrn + 15
A-97
4.2.16 Program movement speed change command
Execute this command to change the program movement speed.
A
■ ■ Command

to
RWwn + 15
ssss : Specify the program speed in 16 bits.

■ ■ Status
Normal end
to
RWrn + 15
Abnormal end
to
RWrn + 15

Example:
Use the program movement speed change command as Address Value
shown at right, to set the program movement speed for RWwn 0x003A
the Robot 1 to 80%.
RWwn + 1 0x0000
RWwn + 2 0x0050
RWwn + 3 0x0000
to
RWwn + 15

RWrn + 1 0x0000
RWrn + 2 0x0000
RWrn + 3 0x0000
RWrn + 4 0x0000
to
RWrn + 15
A-98
4.2.17 Shift designation change command
Execute this command to change the selected shift to a specified shift number.
A
■ ■ Command
RWwn Command code bit 11 – bit 0 0xR03B

RWwn + 2 Specified shift number 0xssss
to
RWwn + 15
ssss : Specify the shift number in 16 bits.

■ ■ Status
Normal end
to
RWrn + 15
Abnormal end
to
RWrn + 15

Example:
Use the shift designation change command as shown Address Value
at right, to set the shift number of the Robot 1 to shift RWwn 0x003B
4.
RWwn + 1 0x0000
RWwn + 2 0x0004
RWwn + 3 0x0000
to
RWwn + 15

RWrn + 1 0x0000
RWrn + 2 0x0000
RWrn + 3 0x0000
RWrn + 4 0x0000
to
RWrn + 15
A-99
4.2.18 Hand designation change command
Execute this command to change the selected hand to a specified hand number.
A
■ ■ Command
RWwn Command code bit 11 – bit 0 0xR03C
RWwn + 2 Specified hand number 0xssss

to
RWwn + 15
ssss : Specify the hand number in 16 bits.

■ ■ Status
Normal end
to
RWrn + 15
Abnormal end
to
RWrn + 15

Example:
Use the hand designation change command as shown Address Value
at right, to set the hand number of the Robot 1 to hand RWwn 0x003C
1. RWwn + 1 0x0000
RWwn + 2 0x0001
RWwn + 3 0x0000
to
RWwn + 15

correctly.
RWrn 0x0200
RWrn + 1 0x0000
RWrn + 2 0x0000
RWrn + 3 0x0000
RWrn + 4 0x0000
to
RWrn + 15
A-100
4.2.19 Arm designation change command
Execute this command to change the arm designation status. This command is valid only when SCARA robot is
specified.
■ ■ Command
A
RWwn Command code bit 11 – bit 0 0xR03D

RWwn + 2 Status of specified arm 0xssss
to
RWwn + 15
ssss : Specify the arm designation status in 16 bits.
Value Meaning
0x0000 Right-handed system
0x0001 Left-handed system
■ ■ Status
Normal end
to
RWrn + 15
Abnormal end
to
RWrn + 15

Example:
Use the arm designation change command as shown at
Address Value
right, to set the arm designation status of the Robot 1
RWwn 0x003D
to the right-handed system.
RWwn + 1 0x0000
RWwn + 2 0x0000
RWwn + 3 0x0000
to
RWwn + 15

RWrn + 1 0x0000
RWrn + 2 0x0000
RWrn + 3 0x0000
RWrn + 4 0x0000
to
RWrn + 15
A-101
4.2.20 Motor power command
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.
A ■ ■ Command
RWwn Command code OFF bit 15 – bit 0 0x0041
Command code ON bit 15 – bit 0 0x0042
Command code PWR bit 15 – bit 0 0x0043

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 : Turns only the motor power ON.
■ ■ Status
Normal end
to
RWrn + 15
Abnormal end
to
RWrn + 15


Use the motor power command to turn the system RWwn 0x0042
power and the servos ON. RWwn + 1 0x0000
RWwn + 2 0x0000
RWwn + 3 0x0000
to
RWwn + 15

RWrn + 1 0x0000
RWrn + 2 0x0000
RWrn + 3 0x0000
RWrn + 4 0x0000
to
RWrn + 15
A-102
4.2.21 MOVET movement command
Execute this command group to allow the robot to move to an absolute position in the tool coordinates.
A
● ● PTP point designation
This command designates a point number which allows the robot to perform PTP movement to a target position
in the tool coordinates.
■ ■ Command

bit 1 Axis 2
bit 2 Axis 3
bit 3 Axis 4
bit 4 Axis 5
bit 5 Axis 6
to
RWwn + 9
to
RWwn + 15

Value Meaning


Value Meaning
A-103
Value Meaning
A
Value Meaning
0 No output.
1 Output.

■ ■ Status
Normal end
RWrn + 2
RWrn + 3
RWrn + 5
RWrn + 7
RWrn + 9
RWrn + 11
RWrn + 13
RWrn + 15
output flag.
Abnormal end
to
RWrn + 15

A-104
Specify the MOVET command with PTP designation as RWwn 0x0044
shown at right, when moving all the axes of the Robot RWwn + 1 0x4004
A
1 to point number 100 at 50% speed, and with the RWwn + 2 0x0000
current position being output in pulses. 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

Axis 2 = -123 RWrn 0x0200

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
This command designates a point number which allows the robot to perform linear interpolation movement to
a target position in the tool coordinates.
A ■ ■ Command

bit 1 Axis 2
bit 2 Axis 3
bit 3 Axis 4
bit 4 Axis 5
bit 5 Axis 6
to
RWwn + 9
to
RWwn + 15

Value Meaning


Value Meaning
A-106
Value Meaning
A
Value Meaning
0 No output.

1 Output.

■ ■ Status
Normal end
RWrn + 2
RWrn + 3
RWrn + 5
RWrn + 7
RWrn + 9
RWrn + 11
RWrn + 13
RWrn + 15
output flag.
Abnormal end
to
RWrn + 15

A-107
Specify the MOVET command with linear interpolation RWwn 0x0045
A
to point number 100 at a speed of 200 mm/s and at RWwn + 2 0x0000
50% acceleration, and with the current position being RWwn + 3 0x00C8
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

RWrn 0x0200
Axis 2 = -0.123
RWrn + 1 0x0000
Axis 3 = 5.000
RWrn + 2 0x0000
Axis 4 = 9.023
RWrn + 3 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-108
4.2.22 Torque control command information
● ● Max. torque command value change command

This command changes the maximum torque command value at a specified axis. The changed torque becomes
effective at the next movement command (MOVE or DRIVE, etc.). The parameter value is not changed by this
command.
A
■ ■ Command

RWwn + 2 Torque designation bit 0 Axis 1 0x00tt
axis
bit 1 Axis 2
bit 2 Axis 3
bit 3 Axis 4
bit 4 Axis 5
bit 5 Axis 6
RWwn + 3 Designated torque 0xdddd
to
RWwn + 15

tt : Specifies (by lower 8 bits) the axis where the torque value is to be changed.
dddd : Specifies (by 16 bits) the designated torque value.
■ ■ Status
Normal end
to
RWrn + 15
Abnormal end
to
RWrn + 15

A-109
Use the max. torque command value change command RWwn 0x0048
to change the max. torque command value for Axis 1 RWwn + 1 0x0000
A
of the Robot 1 to 50%. RWwn + 2 0x0001
RWwn + 3 0x0032
RWwn + 4 0x0000
to
RWwn + 15

RWrn + 1 0x0000
RWrn + 2 0x0000
RWrn + 3 0x0000
RWrn + 4 0x0000
to
RWrn + 15
A-110
4.2.23 PUSH operation command
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
a target position.

bit 7 Push force designation flag h
bit 8 Push time-period designation flag i
bit 1 Axis 2
bit 2 Axis 3
bit 3 Axis 4
bit 4 Axis 5
bit 5 Axis 6
to
RWwn + 7
RWwn + 8 Push force designation 0xffff
RWwn + 9 Push time-period designation 0xjjjj
to
RWwn + 15


h : Enables/disables (by 1 bit) the push force designation.
Value Meaning
0 Push force designation absent
1 Push force designation present
i : Enables/disables (by 1 bit) the push time-period designation.
Value Meaning
0 Push time-period designation absent
1 Push time-period designation present
A-111
Value Meaning
0 No output.
A
1 Output.
tt : Designates (by lower 8 bits) the axis to be moved.


ffff : Designates (by 16 bits) the push force (units: %).
Specified range: -1000 (=0xFC18) to 1000 (=0x03E8)
* A value within the rated torque range of -1000% to 1000% can be specified.
jjjj : Designates (by 16 bits) the push time-period (units: ms).
■ ■ Status
Normal end
RWrn + 2
RWrn + 3 PUSH command bit 0 Push completion result p
completion conditions
RWrn + 5
RWrn + 7
RWrn + 9
RWrn + 11
RWrn + 13
RWrn + 15
p : Indicates the push completion result.

0: Push ended in a status other than time-out.
1: Push completed at time-out (push completed).
output flag.
Abnormal end
to
RWrn + 15

bbbb : Indicates the alarm category
number
A-112
Use the PUSH operation command to move Axis 3 of RWwn 0x004B
the Robot 1 to point 100 at 50% speed with a push RWwn + 1 0x8185
A
force of 100, a push time-period of 100, and with the RWwn + 2 0x0004
current position being output in millimeters. 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
Values are expressed as shown at right when the push

Address Value
operation ends normally at time-out, with the axis
RWrn 0x0200
current positions as follows:
RWrn + 1 0x0000
Axis 1 = 12.345 RWrn + 2 0x0000
Axis 2 = -0.123 RWrn + 3 0x0001
Axis 3 = 2.000 RWrn + 4 0x3039

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-113
the data in millimeters.
A Address
RWwn Command code
Robot designation
bit 11 – bit 0
bit 15 – bit 12
Contents
Robot number
Value
0xR04C


bit 1 Axis 2
bit 2 Axis 3
bit 3 Axis 4
bit 4 Axis 5
bit 5 Axis 6
RWwn + 5
RWwn + 7
to
RWwn + 15


Value Meaning
Value Meaning
Value Meaning
0 No output.
1 Output.
A-114
A
Data should be integers (x 1000) in millimeter units.

■ ■ Status
Normal end
RWrn + 2
RWrn + 5
RWrn + 7
RWrn + 9
RWrn + 11
RWrn + 13
RWrn + 15

output flag.
Abnormal end
to
RWrn + 15

A-115
Specify the PUSH operation command as shown at RWwn 0x004C
right, to move Axis 3 of the Robot 1 to position 100.00 RWwn + 1 0x8185
A
at 50% speed with a push force of 100, a push RWwn + 2 0x0004
time-period of 100, and with the current position being RWwn + 3 0x0032
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
Values are expressed as shown at right when the push Address Value
operation ends normally at time-out, with the axis
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

RWrn + 5 0x0000
Other axes = 0.000
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
A-116
the data in pulses.
Address
RWwn Command code
Robot designation
bit 11 – bit 0
bit 15 – bit 12
Contents
Robot number
Value
0xR04D A

bit 1 Axis 2
bit 2 Axis 3
bit 3 Axis 4
bit 4 Axis 5
bit 5 Axis 6
RWwn + 5
RWwn + 7
to
RWwn + 15


Value Meaning
Value Meaning
Value Meaning
0 No output.
1 Output.
A-117
A
■ ■ Status
Normal end
RWrn + 2
RWrn + 5
RWrn + 7
RWrn + 9
RWrn + 11
RWrn + 13
RWrn + 15

output flag.
Abnormal end
to
RWrn + 15

A-118
Specify the PUSH operation command as shown at RWwn 0x004D
right, to move Axis 3 of the Robot 1 to position 10000 RWwn + 1 0x4185
A
at 50% speed with a push force of 100, a push RWwn + 2 0x0004
time-period of 100, and with the current position being RWwn + 3 0x0032
output in pulses. 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
Values are expressed as shown at right when the push Address Value
operation ends normally at time-out, with the axis RWrn 0x0200
RWrn + 1 0x0000
Axis 1 = 12345 RWrn + 2 0x0000
Axis 2 = -123 RWrn + 3 0x0001
Axis 3 = 9000 RWrn + 4 0x3039

RWrn + 5 0x0000
Other axes =0
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
A-119
Category 2 remote commands are used to define or obtain point data.
A
A command list is given below.
2-1 Point-related commands Point data definition 0x0100
Point data reference 0x0101
2-2 Point comment-related commands Point comment data definition 0x0104

Point comment data reference 0x0105
2-3 Pallet-related command Pallet data definition 0x0108
2-4 Shift-related command Shift data definition 0x010C
2-5 Hand-related command Hand data definition 0xR110
Hand data reference 0xR111
A-120
4.3.1 Point-related command
Execute this command to define or obtain point data.
A
● ● Point data definition
This command defines point data by specifying the point number and position data on each axis.
■ ■ Command

RWwn + 1 Command flag bit 0 Point unit u
bit 2 − bit 1 Hand system tt
bit 6 − bit 3 Number 1 arm rotation information xr
bit 10 − bit 7 Number 2 arm rotation information yr
bit 15 − bit 11 (0: Fixed) 0
RWwn + 2 Point number 0xssss
RWwn + 4 Axis-1 data 0xbbbbbbbb
RWwn + 5
RWwn + 7
RWwn + 9
RWwn + 11
RWwn + 13
RWwn + 15
u : Specify the point data unit in 1 bit.
Value Meaning
0 Pulse units
1 Millimeter units
tt : Specify in 2 bits the hand system to be defined.

Valid only when SCARA robot is specified and units are in millimeters.
Value Meaning
01 Right-handed system is defined.
10 Left-handed system is defined.
Other No hand system is defined.
xr / yr : Shows in 4 bits the defined "number 1 arm rotation information" and "number 2 arm rotation
information". (*1)
Value Meaning
0000 0
0001 1
1111 −1
Other 0
ssss : Specify the point number in 16 bits.

bbbbbbbb : Specify the point data in 32 bits. (little endian)
c CAUTION
(*1)
A-121
■ ■ Status
Normal end
A
to
RWrn + 15
Abnormal end
to
RWrn + 15

Example:
Address Value
Use the point data definition command as shown at RWwn 0x0100
right, to create the following point data in pulse units. RWwn + 1 0x0000
Point number = 100 RWwn + 2 0x0064
Axis 1 = 10000 RWwn + 3 0x0000
Axis 2 = -20000 RWwn + 4 0x2710

RWwn + 5 0x0000
Axis 3 = 5000
RWwn + 6 0xB1E0
Axis 4 = -18000
RWwn + 7 0xFFFF
Other axes =0 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
correctly.
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-122
● ● Point data reference
Use this command to find and obtain point data by specifying the point number.
■ ■ Command
Address
RWwn Command code
Contents Value
0x0101
A

to
RWwn + 15

■ ■ Status
Normal end
RWrn + 2 Point number 0xssss
RWrn + 3 Point flag bit 0 Point unit u
bit 15 − bit 11 (0: Fixed) 0
RWrn + 5
RWrn + 7
RWrn + 9
RWrn + 11
RWrn + 13
RWrn + 15
ssss : Shows the point number in 16 bits.

u : Shows the point data unit in 1 bit.
Value Meaning
0 Pulse units
1 Millimeter units
tt : Shows in 2 bits the hand system to define point data.

Valid only when SCARA robot is specified and units are in millimeters.
Value Meaning
00 No hand system is defined.
01 Right-handed system is defined.
10 Left-handed system is defined.
xr / yr : Shows in 4 bits the defined "number 1 arm rotation information" and "number 2 arm rotation
information". (*1)
Value Meaning
0000 0
0001 1
1111 −1
A-123
bbbbbbb : Shows the point data in 32 bits. (little endian)
Data is shown in integers when units are in pulses.
Data is shown in integers (x1000) when units are in millimeters.
A c CAUTION
(*1)
Abnormal end

to
RWrn + 15


Use the point data reference command as shown at right, RWwn 0x0101
to search and obtain point data at point number 50. 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
correctly to obtain the following point data.
RWrn 0x0200
Point number = 50
RWrn + 1 0x0000
Axis 1 = 10.000 RWrn + 2 0x0032
Axis 2 = -20.000 RWrn + 3 0x0001
Axis 3 = 5.000 RWrn + 4 0x2710

RWrn + 5 0x0000
Axis 4 = -18.000
RWrn + 6 0xB1E0
Other axes = 0.000
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-124
4.3.2 Point comment-related command
Execute this command to define or obtain point comment data.
A
● ● Point comment data definition
Use this command to define point comment data by specifying the point number and point comment data.
■ ■ Command

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 0xbbbb
to
RWwn + 15

bb : Specify 1 byte comment data in 8 bits. (little endian)
Specified range: " "(=0x20) to "~ "(=0x7E)
■ ■ Status
Normal end
to
RWrn + 15
Abnormal end
to
RWrn + 15

A-125
Use the point comment data definition command as RWwn 0x0104
shown at right, to create the following point comment RWwn + 1 0x0000
A
data. RWwn + 2 0x0064
Comment data = "WAIT ORG" RWwn + 4 0x4157

RWwn + 5 0x5449
(character code : "W" = 0x57
RWwn + 6 0x4F20
"A" = 0x41
RWwn + 7 0x4752
" I " = 0x49 RWwn + 8 0x0000
"T" = 0x54 RWwn + 9 0x0000
" " = 0x20 RWwn + 10 0x0000
"O" = 0x4F RWwn + 11 0x0000

RWwn + 12 0x0000
"R" = 0x52
RWwn + 13 0x0000
"G" = 0x47)
RWwn + 14 0x0000
RWwn + 15 0x0000

Address Value
correctly.
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-126
● ● Point comment data reference
Use this command to search and obtain point comment data by specifying the point number.
■ ■ Command
Address
RWwn Command code
Contents Value
0x0105
A

to
RWwn + 15

■ ■ Status
Normal end
RWrn + 2 Point number 0xssss
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 0xbbbb
to
RWrn + 15
ssss : Shows the point number in 16 bits.

bb : Shows the 1 byte comment data in 8 bits. (little endian)
Abnormal end
to
RWrn + 15

A-127
Use the point comment data reference command as RWwn 0x0105
shown at right, to obtain point comment data at point RWwn + 1 0x0000
A
number 50. 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

correctly to obtain the following point data. RWrn 0x0200
Point number = 50 RWrn + 1 0x0000
Comment data = "WAIT ORG" RWrn + 2 0x0032
RWrn + 3 0x0000
RWrn + 4 0x4157
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
A-128
4.3.3 Pallet-related command
Execute this command to define or obtain pallet data.
A
● ● Pallet data definition
This command defines the pallet data by specifying the pallet number, the number of pallets (Nx, Ny, Nz), and
the first point number.
n NOTE

Point data used for pallet movement is determined by the pallet number. Refer to the robot controller user's
manual or robot programming manual for detailed information.
■ ■ Command
RWwn + 2 Pallet number 0xssss
RWwn + 3 Number of pallets in X direction (Nx) 0xaaaa
RWwn + 4 Number of pallets in Y direction (Ny) 0xaaaa
RWwn + 5 Number of pallets in Z direction (Nz) 0xaaaa
RWwn + 6 First point number 0xpppp
to
RWwn + 15
ssss : Specify the pallet number in 16 bits.

Pallet number specified range: 0 (=0x0000) to 39 (=0x0027)
aaaa : Specify the number of pallets (positive integer) in 16 bits.
The value of "Nx*Ny*Nz" should be within a 1 to 32767 range.
Specified range: 0 (=0x0000) to 29995 (=0x752B)
The pallet definition coordinate data is saved at the point data area for 5 points, beginning with the
data for the specified point.
■ ■ Status
Normal end
to
RWrn + 15
Abnormal end
to
RWrn + 15

A-129
Use the pallet data definition command as shown at RWwn 0x0108
right, to create the following pallet. RWwn + 1 0x0000
A
Pallet number = 10 RWwn + 2 0x000A
Nx = 10 RWwn + 3 0x000A
RWwn + 4 0x000F
Ny = 15
RWwn + 5 0x0001
Nz =1
RWwn + 6 0x0064
First point number = 100 RWwn + 7 0x0000

to
RWwn + 15

correctly.
RWrn 0x0200
RWrn + 1 0x0000
RWrn + 2 0x0000
RWrn + 3 0x0000
to
RWrn + 15
● ● Pallet data reference

Use this command to obtain pallet data by specifying the pallet number.
■ ■ Command
RWwn + 2 Pallet number 0xssss
to
RWwn + 15
ssss : Specify the pallet number in 16 bits.

■ ■ Status
Normal end
RWrn + 2 Pallet number 0xssss
RWrn + 3 Number of pallets in X direction (Nx) 0xaaaa
RWrn + 4 Number of pallets in Y direction (Ny) 0xaaaa
RWrn + 5 Number of pallets in Z direction (Nz) 0xaaaa
RWrn + 6 First point number 0xpppp
to
RWrn + 15
ssss : Shows the pallet number in 16 bits.

aaaa : Shows the number of pallets in 16 bits.
pppp : Indicates the first point number in 16 bits.
A-130
Abnormal end
A
to
RWrn + 15

Example:
Address Value
Use the pallet data reference command as shown at RWwn 0x0109
right, to obtain pallet data at pallet number 10. RWwn + 1 0x0000
RWwn + 2 0x000A
RWwn + 3 0x0000
to
RWwn + 15

Address Value
correctly to obtain the following pallet data.
RWrn 0x0200
Pallet number = 10 RWrn + 1 0x0000
Nx = 10 RWrn + 2 0x000A
Ny = 15 RWrn + 3 0x000A
RWrn + 4 0x000F
Nz =1
RWrn + 5 0x0001
First point number = 100
RWrn + 6 0x0064
RWrn + 7 0x0000
to
RWrn + 15
A-131
4.3.4 Shift-related command
Execute this command to define or obtain shift data.
A
● ● Shift data definition
Use this command to define shift data by specifying the shift number and shift data.
■ ■ Command
RWwn Command code 0x010C

RWwn + 2 Shift number 0xssss
RWwn + 5
RWwn + 7
RWwn + 9
RWwn + 11
to
RWwn + 15

bbbbbbbb : Specify the shift data in 32 bits. (little endian)
Data should by integers (x1000).
■ ■ Status
Normal end
to
RWrn + 15
Abnormal end
to
RWrn + 15

A-132
Use the shift data definition command as shown at RWwn 0x010C
right, to create the following shift data. RWwn + 1 0x0000
A
Shift number = 5 RWwn + 2 0x0005
Axis 1 = 10.000 RWwn + 3 0x0000

RWwn + 4 0x2710
Axis 2 = -20.000
RWwn + 5 0x0000
Axis 3 = 5.000
RWwn + 6 0xB1E0

Axis 4 = -18.000 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
correctly.
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
● ● Shift data reference
Use this command to search and obtain shift data by specifying the shift number.
■ ■ Command
A Address
RWwn Command code
Contents Value
0x010D
RWwn + 2 Shift number 0xssss

to
RWwn + 15

■ ■ Status
Normal end
RWrn + 2 Shift number 0xssss
RWrn + 4 Data 1 0xbbbbbbbb
RWrn + 5
RWrn + 7
RWrn + 9
RWrn + 11
to
RWrn + 15
ssss : Shows the shift number in 16 bits.

bbbbbbbb : Shows the shift data in 32 bits. (little endian)
Data is show in integers (x1000).
Abnormal end
to
RWrn + 15

A-134
Use the shift data reference command as shown at RWwn 0x010D
right, to obtain shift data at shift number 5. RWwn + 1 0x0000
A
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

correctly to obtain the following shift data. RWrn 0x0200
Shift number = 5 RWrn + 1 0x0000
Axis 1 = 10.000 RWrn + 2 0x0005
Axis 2 = -20.000 RWrn + 3 0x0000

RWrn + 4 0x2710
Axis 3 = 5.000
RWrn + 5 0x0000
Axis 4 = -18.000
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
4.3.5 Hand-related command
Execute this command to define or obtain hand data.
A
● ● Hand data definition
Use this command to define hand data by specifying the hand number and each data.
■ ■ Command

RWwn + 2 Hand number 0xssss
RWwn + 4 Data 1 0xbbbbbbbb
RWwn + 5
RWwn + 7
RWwn + 9
RWwn + 11
to
RWwn + 15

Hand number setting range : 0 (0x0000) to 31 (=0x001F)
bbbbbbbb : When SCARA robot is specified and data 4 is 0:
Data 1 : Specify the integer in 32 bits. (little endian)
Data 2 and 3 : Specify the integer (x1000) in 32 bits. (little endian)
Data 4 : When hand is installed to R-axis =1, other cases =0
In other cases
Data 1 to 3 : Specify the integer (x1000) in 32 bits. (little endian)
■ ■ Status
Normal end
to
RWrn + 15
Abnormal end
to
RWrn + 15

A-136
Use the hand data definition command as shown at RWwn 0x0110
right, to create hand data for a Cartesian robot. RWwn + 1 0x0000
A
Hand number = 1 RWwn + 2 0x0001
Data 1 = 10.000 RWwn + 3 0x0000

RWwn + 4 0x2710
Data 2 = -2.000
RWwn + 5 0x0000
Data 3 = 5.000
RWwn + 6 0xF830

Data 4 =0 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
correctly.
RWrn 0x0200
RWrn + 1 0x0000
RWrn + 2 0x0000
RWrn + 3 0x0000
RWrn + 4 0x0000
to
RWrn + 15
A-137
● ● Hand data reference
Use this command to obtain hand data by specifying the hand number.
■ ■ Commands
A Address
RWwn Command code
Contents
bit 11 – bit 0
Value
0x0111
RWwn + 2 Hand number 0xssss

to
RWwn + 15

Hand number setting range : 0 (0x0000) to 31 (=0x001F)
■ ■ Status
Normal end
RWrn + 2 Hand number 0xssss
RWrn + 3 Not used 0xrrrr
RWrn + 5
RWrn + 7
RWrn + 9
RWrn + 11
to
RWrn + 15
ssss : Indicates the hand number in 16 bits.

rrrr : Indicates the robot number in 16 bits.
bbbbbbbb : When SCARA robot is specified and data 4 is 0.
Data 1 : Shows the integer in 32 bits. (little endian)
Data 2 and 3 : Shows the integer (x1000) in 32 bits. (little endian)
In other cases
Data 1 to 3 : Shows the integer (x1000) in 32 bits. (little endian)
Abnormal end
to
RWrn + 15

A-138
Use the hand data reference command as shown at RWwn 0x0111
right, to obtain hand data. RWwn + 1 0x0000
A
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

correctly to obtain the following hand data. RWrn 0x0200
Hand number = 1 RWrn + 1 0x0000
Data 1 = 10.000 RWrn + 2 0x0001

RWrn + 3 0x0001
Data 2 = -2.000
RWrn + 4 0x2710
Data 3 = 5.000
RWrn + 5 0x0000
Data 4 =0 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
Category 3 remote commands are arithmetic commands. A command list is given below.
A No.
3-1 Static variable-related commands
Command contents
Assignment Value
Variable
Command code (RWwn)
0x0200
0x0201
Addition Value 0x0204

Variable 0x0205
Subtraction Value 0x0208
Variable 0x0209
Multiplication Value 0x020C
Variable 0x020D
Division Value 0x0210
Variable 0x0211
Reference Variable 0x0214
3-2 Parameter-related command Assignment 0xR220
Reference 0xR224
3-3 Point-related command Point assignment 0x0230
Addition 0x0234
Subtraction 0x0235
Pallet point assignment 0x0238
Point element Pulse units input format 0x0240

assignment
Millimeter units input format 0x0241
Shift element Millimeter units input format 0x0245

assignment
A-140
4.4.1 Static variable-related command
Execute this command to assign a numerical value to a static variable for four arithmetic operations or
reference.
● ● Assigning a numerical value to a static variable

This command assigns a numerical value to a static variable (SGIn or SGRn) by specifying the destination
A
variable number and the numerical value.
Variable number 1 = numerical value

c 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
RWwn + 2 Variable number 1 (Variable number at assignment destination) 0xssss
RWwn + 4 Numerical data 0xbbbbbbbb
RWwn + 5
to
RWwn + 15
ssss : Specify variable number 1 in 16 bits.

Specified range for integer variable : 0 (0x0000) to 31 (=0x001F)
Specified range for real variable : 256 (=0x0100) to 287 (=0x011F)
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)
bbbbbbbb : Specify the integer in 32 bits. (little endian)

Specify a signed integer value when assigning to an integer variable.
Specify a single-precision real number when assigning to a real variable.
■ ■ Status
Normal end
to
RWrn + 15
Abnormal end
to
RWrn + 15

A-141
Use this command as shown at right, to assign RWwn 0x0200
numerical data to variable number 1. RWwn + 1 0x0000
A
Variable number 1 =1 RWwn + 2 0x0001
Numerical data = 10000 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

RWrn + 1 0x0000
RWrn + 2 0x0000
RWrn + 3 0x0000
RWrn + 4 0x0000
to
RWrn + 15
A-142
● ● Assigning a variable to a static variable
This command assigns a numerical value to a static variable (SGIn or SGRn) by designating the source variable
number and destination variable number.
Variable number 1 = Variable number 2
■ ■ Command A

RWwn + 2 Variable number 1 (Variable number at assignment destination) 0xssss
RWwn + 4 Variable number 2 (Variable number at assignment source) 0xssss
to
RWwn + 15
ssss : Specify variable numbers 1 and 2 in 16 bits.

SGI0 0 (=0x0000) SGR0 256 (=0x0100)
SGI1 1 (=0x0001) SGR1 257 (=0x0101)
: : : :
SGI31 31 (=0x001F) SGR31 287 (=0x011F)
■ ■ Status
Normal end
to
RWrn + 15
Abnormal end
to
RWrn + 15

A-143
Use this command as shown at right, to assign RWwn 0x0201
numerical data of variable number 2 to variable RWwn + 1 0x0000
A
number 1. RWwn + 2 0x0001
Variable number 1 = 1 RWwn + 3 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

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-144
● ● Arithmetic operation using numerical data on static variable
This command performs four arithmetic operations by specifying variable number 1 and a numerical value.
Results are stored in a static variable (SGIn or SGRn) specified by variable number 1.
Variable number 1 = Variable number 1 (operator) numerical value
■ ■ Command A
RWwn Command code Addition 0x0204

Subtraction 0x0208
Multiplication 0x020C
Division 0x0210
RWwn + 2 Variable number 1 (Variable number at addition destination) 0xssss
RWwn + 5
to
RWwn + 15
ssss : Specify variable number 1 in 16 bits.


SGI0 0 (=0x0000) SGR0 256 (=0x0100)
SGI1 1 (=0x0001) SGR1 257 (=0x0101)
: : : :
SGI31 31 (=0x001F) SGR31 287 (=0x011F)

■ ■ Status
Normal end
to
RWrn + 15
Abnormal end
to
RWrn + 15

A-145
Use this command to assign numerical data to a static RWwn 0x0204
variable as shown at right. RWwn + 1 0x0000
A
Variable number 1 =1 RWwn + 2 0x0001

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
correctly.
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-146
● ● Arithmetic operation using variable on static variable
This command performs four arithmetic operations by specifying variable numbers 1 and 2. Results are stored
in a static variable (SGIn or SGRn) specified by variable number 1.
Variable number 1 = Variable number 1 (operator) variable number 2
■ ■ Command A

Subtraction 0x0209
Multiplication 0x020D
Division 0x0211
RWwn + 2 Variable number 1 (Variable number at arithmetic operation destination) 0xssss
RWwn + 4 Variable number 2 (Variable number at arithmetic operation source) 0xssss
to
RWwn + 15
ssss : Specify variable numbers 1 and 2 in 16 bits.


SGI0 0 (=0x0000) SGR0 256 (=0x0100)
SGI1 1 (=0x0001) SGR1 257 (=0x0101)
: : : :
SGI31 31 (=0x001F) SGR31 287 (=0x011F)
■ ■ Status
Normal end
to
RWrn + 15
Abnormal end
to
RWrn + 15

A-147
Use this arithmetic operation command to multiply RWwn 0x020D
static variables as shown at right. RWwn + 1 0x0000
A

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

correctly.
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-148
● ● Static variable value reference
Use this command to search and obtain the value stored in a static variable (SGIn or SGRn) by specifying the
variable number.
A
■ ■ Command

RWwn + 2 Variable number 0xssss
to
RWwn + 15
ssss : Specify variable number in 16 bits.


SGI0 0 (=0x0000) SGR0 256 (=0x0100)
SGI1 1 (=0x0001) SGR1 257 (=0x0101)
: : : :
SGI31 31 (=0x001F) SGR31 287 (=0x011F)
■ ■ Status
Normal end
RWrn + 2 Variable number 0xssss
RWrn + 4 Value of variable 0xbbbbbbbb
RWrn + 5
to
RWrn + 15
ssss : Specify variable number in 16 bits.

bbbbbbbb : Shows the numerical value in 32 bits. (little endian)
Abnormal end
to
RWrn + 15

A-149
Use this command as shown at right, to obtain the RWwn 0x0214
numerical value of variable number 5. RWwn + 1 0x0000
A
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

correctly to obtain the following variable. 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-150
4.4.2 Parameter-related command
Execute this command to assign a value to a parameter or obtain a parameter.
● ● Assigning a value to a parameter A

This command assigns a numerical value to a specified parameter by specifying the parameter number, axis
and numerical value.

Robot parameter Parameter number Assignment range
WEIGHT Robot payload (kg) 1 (=0x0001) 0 to maximum payload
WEIGHTG Robot payload (g) 2 (=0x0002) 0 to maximum payload
Axis parameter 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 OUT effective position (pulses) 260 (=0x0104) 1 to 9999999
AXWGHT Axis payload (kg) 262 (=0x0106) 0 to maximum payload
ARCHP1 Arch distance 1 (pulse) 264 (=0x0108) 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: NORMAL, 1: RESET
PSHJGSP Push judge speed 269 (=0x010D) 0 to 100
PSHSPD Push speed ratio 270 (=0x010E) 1 to 100
■ ■ Command
RWwn + 2 Parameter number 0xssss
bit 1 Axis 2
bit 2 Axis 3
bit 3 Axis 4
bit 4 Axis 5
bit 5 Axis 6
RWwn + 5
to
RWwn + 15

ssss : Specify the parameter number in 16 bits.
tt : Specify the axis number in bit pattern using lower 8 bits.
Specify "0" for robot parameters.
A-151
■ ■ Status
Normal end
A
to
RWrn + 15
Abnormal end
to
RWrn + 15

Example:
Use this command as shown at right, to assign a Address Value
numerical value to the tolerance for Axis 3 of the RWwn 0x0220
Robot 1. RWwn + 1 0x0000
Parameter number = 259 RWwn + 2 0x0103
Specified axis =3 RWwn + 3 0x0004

RWwn + 4 0x03E8
Numerical data = 1000
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
correctly.
RWrn 0x0200
RWrn + 1 0x0000
RWrn + 2 0x0000
RWrn + 3 0x0000
RWrn + 4 0x0000
to
RWrn + 15
A-152
● ● Parameter value reference
Use this command to search and obtain parameter setting data by specifying the parameter number.
A
Robot parameter Parameter number Assignment range
WEIGHT Robot payload (kg) 1 (=0x0001) 0 to maximum payload
WEIGHTG Robot payload (g) 2 (=0x0002) 0 to maximum payload

Axis parameter Parameter number Reference 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 OUT effective position (pulses) 260 (=0x0104) 1 to 9999999
AXWGHT Axis payload (kg) 262 (=0x0106) 0 to maximum payload
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 Push judgment speed ratio 269 (=0x010D) 0: DISABLE, 1 to 100
PSHSPD Push speed ratio 270 (=0x010E) 1 to 100
■ ■ Command
RWwn + 2 Parameter number 0xssss
bit 1 Axis 2
bit 2 Axis 3
bit 3 Axis 4
bit 4 Axis 5
bit 5 Axis 6
to
RWwn + 15

A-153
■ ■ Status
Normal end
A
RWrn + 2 Parameter number 0xssss
RWrn + 3 Specified axis bit 0 Axis 1 0x00tt
bit 1 Axis 2
bit 2 Axis 3
bit 3 Axis 4
bit 4 Axis 5
bit 5 Axis 6
RWrn + 4 Numerical data 0xbbbbbbbb
RWrn + 5
to
RWrn + 15

Abnormal end
to
RWrn + 15

A-154
OUT effective position of axis 1 of the Robot 1. RWwn + 1 0x0000
A
Parameter number = 260 RWwn + 2 0x0104
Specified axis =1 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

correctly to obtain the following parameter.
RWrn 0x0200
Parameter number = 260 RWrn + 1 0x0000
Specified axis =1 RWrn + 2 0x0104
Numerical data = 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
A-155
4.4.3 Point-related command
Execute this command to assign a point to a parameter or obtain a parameter.
A
● ● Assigning a point to a parameter
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
■ ■ Command

RWwn + 2 Point number 1 (Point number at assignment destination) 0xssss
RWwn + 3 Point number 2 (Point number at assignment source) 0xssss
to
RWwn + 15

■ ■ Status
Normal end
to
RWrn + 15
Abnormal end
to
RWrn + 15

A-156
Use this command as shown at right, to assign a point RWwn 0x0230
to the specified point. RWwn + 1 0x0000
A
Point number 1 = 1 RWwn + 2 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

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
● ● 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
A ■ ■ Command
Subtraction 0x0235

RWwn + 2 Point number 1 (Point number at operation destination) 0xssss
RWwn + 3 Point number 2 (Point number at operation source) 0xssss
to
RWwn + 15

■ ■ Status
Normal end
to
RWrn + 15
Abnormal end
to
RWrn + 15

A-158
Use the point addition command as shown at right, to RWwn 0x0234
add point number 2 to point number 1. RWwn + 1 0x0000
A

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
correctly.
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
● ● Assigning a pallet point
This command assigns a pallet point to the destination point number by specifying a pallet number and work
position number.
A n
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
RWwn + 2 Point number (Point number at assignment destination) 0xssss
RWwn + 3 Pallet number 0xaaaa
RWwn + 4 Work position number 0xbbbb
to
RWwn + 15

aaaa : Specify the pallet number in 16 bits.
bbbb : Specify the work position number in 16 bits.
■ ■ Status
Normal end
to
RWrn + 15
Abnormal end
to
RWrn + 15

A-160
Use this command as shown at right, to assign a pallet RWwn 0x0238
point to the following point. RWwn + 1 0x0000
A
Pallet number = 2 RWwn + 3 0x0002

RWwn + 4 0x0085
Work position number = 133
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

correctly.
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
4.4.4 Element assignment command
Execute this command to assign a number to a point or shift element.
A
● ● Assigning to a point element
This command assigns a numerical value to a point element by specifying the point number, data number and
numerical value.
LOC [data number] (point number) = numerical value
n
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
RWwn Command code "Pulse" units input format 0x0240
"Millimeter" units input 0x0241
format
RWwn + 2 Point number (Point number at assignment destination) 0xssss
RWwn + 3 Data number bit 0 Data 1 0x00tt
designation
bit 1 Data 2
bit 2 Data 3
bit 3 Data 4
bit 4 Data 5
bit 5 Data 6
RWwn + 4 Numerical value 0xbbbbbbbb
RWwn + 5
to
RWwn + 15

Specified range: 0 (0x0000) to 29999 (=0x752F)
tt : Specify the data number in bit pattern using lower 6 bits.
Specify data in integers when using "pulse" units input format.
Specify data in integers (x1000) when using "millimeter" units input format.
■ ■ Status
Normal end
to
RWrn + 15
Abnormal end
to
RWrn + 15

A-162
Use this command as shown at right, to assign a RWwn 0x0241
numerical value to part of the following point. RWwn + 1 0x0000
A
Point number =1 RWwn + 2 0x0001
Data number designation = 4 RWwn + 3 0x0008

RWwn + 4 0x03E8
Numerical value = 1.000
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

correctly.
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
● ● Assigning to a shift element
This command assigns a numerical value to a shift element by specifying the shift number, data number and
numerical value.
A LOC [data number] (shift number) = numerical value
■ ■ Command

RWwn + 2 Shift number (Shift number at assignment destination) 0xssss
RWwn + 3 Data number bit 0 Data 1 0x00tt
designation bit 1 Data 2
bit 2 Data 3
bit 3 Data 4
RWwn + 4 Numerical value 0xbbbbbbbb
RWwn + 5
to
RWwn + 15

Specified range: 0 (0x0000) to 39 (=0x0027)
tt : Specify the data number in bit pattern using lower 4 bits.
bbbbbbbb : Specify the integer (x1000) in 32 bits. (little endian)
■ ■ Status
Normal end
to
RWrn + 15
Abnormal end
to
RWrn + 15

A-164
Use this command as shown at right, to assign a real RWwn 0x0245
number value to part of the following shift. RWwn + 1 0x0000
A
Shift number =1 RWwn + 2 0x0001
Data number designation = 2 RWwn + 3 0x0002

RWwn + 4 0x03E8
Numerical value = 1.000
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

correctly.
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
Category 4 remote commands are I/O port commands. A command list is given below.
A
4-1 I/O port command Assignment port units 0x0300
Assignment bit units 0x0301
Reference port units 0x0304

("n" indicates the data direction from master to remote.)
A-166
4.5.1 I/O port commands
Use these commands to assign a value to an I/O port or obtain the contents of a specified I/O port.
A
● ● Assigning a numerical value to an I/O port
This command assigns a bit pattern to a port number by specifying the destination port number and bit pattern.
■ ■ Command

RWwn Command code Port units 0x0300
Bit units 0x0301
RWwn + 2 Port number bit 3 − bit 0 Bit number g
bit 7 − bit 4 Units of port number r
bit 11 − bit 8 Tens of port number q
bit 15 − bit 12 Specified port type p
RWwn + 3 Assignment bit pattern 0x00bb
to
RWwn + 15
g : Specify the bit number in 4 bits.

Specified range: 0 to 7
r, q : Specify the place of each port number in 4 bits.
p : Specify the port type in 4 bits.
When in port units, specify 0 in the bit number.
Designated port type Bit pattern Specified range of port number

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 0
SO 0110 2 to 7,10 to 17,20 to 27
bb : Specify the bit pattern in 8 bits.

When in bit units, use 0 or 1 to specify the bit pattern.
■ ■ Status
Normal end
to
RWrn + 15
Abnormal end
to
RWrn + 15

A-167
Use this command as shown at right, to output a RWwn 0x0300
numerical value to the following output port. RWwn + 1 0x0000
A
Output port = DO12 () RWwn + 2 0x1120

RWwn + 4 0x0000
to
RWwn + 15

correctly.
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 Address Value
numerical value to the following output port. RWwn 0x0301
Output port = DO (21) RWwn + 1 0x0000

RWwn + 2 0x1021
Numerical data = 1
RWwn + 3 0x0001
RWwn + 4 0x0000
to
RWwn + 15

RWrn + 1 0x0000
RWrn + 2 0x0000
RWrn + 3 0x0000
to
RWrn + 15
A-168
● ● I/O port reference
Use this command to obtain the contents of a port number by specifying the port number.
■ ■ Command
Address
RWwn Command code
Contents
Port units
Value
0x0304
A
RWwn + 2 Port number bit 3 − bit 0 (0: Fixed) 0

to
RWwn + 15
r, q : Specify the place of each port number in 4 bits.

p : Specify the port type in 4 bits.
Designated port type Bit pattern Specified range of port number

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 0
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
RWrn + 2 Port number bit 3 − bit 0 Not used 0
RWrn + 3 Bit pattern 0x00bb
to
RWrn + 15
r, q : Shows the place of each port number in 4 bits.

p : Shows the port type in 4 bits.
bb : Shows the bit pattern in 8 bits.
When in bit units, 0 or 1 is used to show the bit pattern.
Abnormal end
to
RWrn + 15

A-169
following port data. RWwn + 1 0x0000
A
Output port = DO12 () RWwn + 2 0x1120
RWwn + 3 0x0000
to
RWwn + 15

correctly.
RWrn 0x0200
Output port = DO12 () RWrn + 1 0x0000
RWrn + 3 0x0007
RWrn + 4 0x0000
to
RWrn + 15

Use this command as shown at right, to output a RWwn 0x0304
numerical value to the following port data. RWwn + 1 0x0000
Input port = DI2 () RWwn + 2 0x0020
RWwn + 3 0x0000
to
n + 30

Input port = DI2 () RWrn + 1 0x0000
RWrn + 3 0x007F
RWrn + 4 0x0000
to
RWrn + 15
A-170
Category 5 remote commands are program operation setting commands. A command list is given below.
A
5-1 Execution program designation 0x0401
5-2 Program execution Program execution 0x0402

5-3 Program reset 0x0406
5-4 Program execution information reference 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
4.6.1 Execution program designation
Use this command to register in a task in order to execute a robot program.
A
■ ■ Command
RWwn + 1 Command flag bit 2 – bit 0 Designation method selection sss
RWwn + 2 Program number 0xnnnn

RWwn + 3 Registered task number 0xtttt
RWwn + 4 Task priority ranking 0xpppp
RWwn + 6 Program name 0xbbbb
to
RWwn + 13
RWwn + 15
sss : Specify (by 3 bits) the program selection method.
Value Meaning
001 Program number
100 Program name
Other Designation method error
nnnn : Specify (by 16 bits) the program number.

1 (=0x0001) to 100 (=0x0064)
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 : Specifies (by 16 bits) the task priority ranking.
1 (=0x0001) to 64 (=0x0040)
bb : Specify the 1-byte program name in 8 bits. (little endian)
Specify a program name with letters (uppercase), numbers and underscores ( _ ).
When the program name is shorter than 16 characters, use a space.
(For programs with more than 16 characters, a search for the entered character string occurs.
When multiple programs exist with different names subsequent to the 16th character, the lowest of
those program numbers is registered.)
■ ■ Status
Normal end
to
RWrn + 15
Abnormal end
to
RWrn + 15

A-172
Use this command as shown at right, to specify RWwn 0x0401
program number 1, task number 1, and a priority RWwn + 1 0x0001
A
ranking of 47. 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
correctly.
RWrn 0x0200
RWrn + 1 0x0000
RWrn + 2 0x0000
RWrn + 3 0x0000
RWrn + 4 0x0000
to
RWrn + 15
A-173
4.6.2 Program execution
These commands execute robot program operations.
A
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.
Program step execution 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.
Program skip execution Skips one line in the program. Performs the same processing as SKIP execution which is performed
from the programming box.
Program next execution 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
RWwn Command code Program execution 0x0402
RWwn + 3 Operation task number 0xtttt
RWwn + 5
to
RWwn + 13
RWwn + 15
Value Meaning
000 All operation-enabled programs
(enabled only when using the program RUN command)
001 Program number
010 Operation task number
100 Program name

1 (=0x0001) to 100 (=0x0064)
tttt : Specifies (by 16 bits) the task number which operates the program.
1 (=0x0001) to 16 (=0x0010)
■ ■ Status
Normal end
to
RWrn + 15
A-174
Abnormal end
A
to
RWrn + 15

Example:
Address Value
Use these commands to execute Program 1 as Task 1
RWwn 0x0402
as shown at right.
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

RWrn + 1 0x0000
RWrn + 2 0x0000
RWrn + 3 0x0000
RWrn + 4 0x0000
to
RWrn + 15
A-175
4.6.3 Program reset
This command resets the robot program.
Check the program reset status output signal (SO14) to verify all the programs have been reset.
A Check the program execution line reference command to see if "1" is indicated there to verify individual
programs has been reset.
■ ■ Command

RWwn + 5
to
RWwn + 13
RWwn + 15
Value Meaning
000 All operation-enabled programs
001 Program number
100 Program name

1 (=0x0001) to 100 (=0x0064)
tttt : Specifies (by 16 bits) the task number which resets the program.
1 (=0x0001) to 16 (=0x0010)
■ ■ Status
Normal end
to
RWrn + 15
A-176
Abnormal end
A
to
RWrn + 15

Example:
Address Value
Use this command to reset the program named RWwn 0x0406
"ABC_DE" as shown at right. 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
correctly.
RWrn 0x0200
RWrn + 1 0x0000
RWrn + 2 0x0000
RWrn + 3 0x0000
RWrn + 4 0x0000
to
RWrn + 15
A-177
4.6.4 Program execution information reference
Execute this command to acquire information on program execution, when the robot program is stopped.
A
■ ■ Command

RWwn + 5
to
RWwn + 13
RWwn + 15
Value Meaning
001 Program number
100 Program name

1 (=0x0001) to 100 (=0x0064)
tttt : Specifies (by 16 bits) the task number.
1 (=0x0001) to 16 (=0x0010)
■ ■ Status
Normal end
RWrn + 2 Program number 0xpppp
RWrn + 3 Operation task number 0xtttt
RWrn + 4 Execution line number 0xllll
RWrn + 5 Task priority ranking 0xpppp
RWrn + 6 Program name 0xbbbb
to
RWrn + 13
RWrn + 15
pppp : Indicates the program number. 1 (=0x0001) to 100 (=0x0064)

tttt : Indicates the operation task number. 1 (=0x0001) to 16 (=0x0010)
llll : Indicates the current program's execution line number (1~). A value + 10000 is shown when
COMMON program is running.
pppp : Indicates the current task priority rankings 1 (=0x0001) to 64 (=0x0040).
bb : Shows the 1-byte program name in 8 bits. (little endian).
Program names are shown with letters (uppercase), numbers and underscores ( _ ).
Spaces are used to fill out the last part of program names which have fewer than 16 characters.
A-178
Abnormal end
A
to
RWrn + 15


Use this command to acquire program execution RWwn 0x0408
information as shown at right. 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
correctly to switch to the following program task.
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
Task priority = 32
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
A-179
Category 6 remote commands are data handling commands.
A
6-1 Version information reference 0x0501
6-2 Controller configuration reference 0xR502
6-3 Servo status reference 0xR503
6-4 Current position reference Pulse units 0xR505

Millimeter units 0xR506
6-5 Task status reference 0x0507
6-6 Task execution reference 0x0508
6-7 Message reference 0x0509
6-8 Speed status reference 0xR50A
6-9 Arm designation status reference 0xR50B
6-10 Arm status reference 0xR50C
6-11 Return-to-origin status reference 0xR50F
6-12 Current torque value (percentage of max. torque) reference 0xR510
6-13 In-controller date reference 0x0511
6-14 In-controller time reference 0x0512
6-15 Option slot module information referencing 0x0513
6-16 Inching movement amount referencing 0xR514
6-17 Remote command latest alarm referencing 0x0515
6-18 Current torque value (percentage of rated torque) reference 0x0516
A-180
4.7.1 Version information reference
This command displays the software version used in the controller.
A
■ ■ Command
to

RWwn + 15
■ ■ Status
Normal end
RWrn + 2 Host software version 0xaabb
RWrn + 3 Host software revision 0xcccc
RWrn + 4 Driver FPGA version 0xdddd
RWrn + 5 Axis-1 driver software version 0xeeff
to
RWrn + 15
aabb : Shows the controller's host software version in upper 8 bits and lower 8 bits.
cccc : Shows the controller's host softwar revision in 16 bits.
dddd : Indicates (by 16 bits) the driver FPGA version.
eeff : Shows the controller's driver software version in uper 8 bits and lower 8 bits.
Abnormal end
to
RWrn + 15

Example:
Address Value
Use this command to obtain a software version as RWwn 0x0501
shown at right.
RWwn + 1 0x0000
to
RWwn + 15
A-181
Host software version : V1.08 RWrn + 1 0x0000
A
Host software revision : R0048 RWrn + 2 0x0108
Driver FPGA version : V1.001 RWrn + 3 0x0030

RWrn + 4 0x1001
Axis-1 driver software version : V1.01
RWrn + 5 0x0101
Axis-2 driver software version : V1.01
RWrn + 6 0x0101
Axis-3 driver software version : V1.01 RWrn + 7 0x0101

Axis-4 driver software version : 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
4.7.2 System configuration referencing
This command acquires the configuration of the specified robot.
A
■ ■ Command

to
RWwn + 15

■ ■ Status
Normal end
RWrn + 2 Robot number 0xaaaa
RWrn + 4 Axis-1 robot number 0xaaaa
to
RWrn + 15
aaaa : Shows the robot number.

Abnormal end
to
RWrn + 15

Example:
Use the system configuration reference command as Address Value
shown at right, to obtain the configuration of the Robot RWwn 0x0502
1. RWwn + 1 0x0000
to
RWwn + 15
A-183
Robot number : 2000 (YK250X) RWrn + 1 0x0000
A
Axis-1 robot number : 2000 (YK250X) RWrn + 2 0x07D0
Axis-2 robot number : 2000 (YK250X) RWrn + 3 0x0000

RWrn + 4 0x07D0
Axis-3 robot number : 2000 (YK250X)
RWrn + 5 0x07D0
Axs-4 robot number : 2000 (YK250X)
RWrn + 6 0x07D0
Axis-5 robot number : 0 (no axis) RWrn + 7 0x07D0

Axis-6 robot number : 0 (no axis) 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
4.7.3 Ser vo status reference
Execute this command to acquire information on servo status.
A
■ ■ Command

to
RWwn + 15

■ ■ Status
Normal end
RWrn + 2 Axis-1 information 0xaaaa
to
RWrn + 15
aaaa : Shows the servo status of each axis.
Value Contents
0 Servo OFF + mechanical brake ON (Brake)
1 Servo ON (Servo)
2 Servo OFF + mechanical brake OFF (Free)
9 No axis
Abnormal end
to
RWrn + 15


Use this command to acquire a servo status as shown RWwn 0x0503
at right. RWwn + 1 0x0000
to
RWwn + 15
A-185
Axis 1 : 1 (Servo ON) RWrn + 1 0x0000
A
Axis 2 : 1 (Servo ON) RWrn + 2 0x0001
Axis 3 : 2 (Servo Free) RWrn + 3 0x0001

RWrn + 4 0x0002
Axis 4 : 1 (Servo ON)
RWrn + 5 0x0001
Axis 5 : 9 (no axis)
RWrn + 6 0x0009
Axis 6 : 9 (no axis) 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
4.7.4 Current position reference
● ● Pulse units designation

Use this command to obtain the robot current position data in pulse units.
■ ■ Command
A

RWwn + 1 Command flag bit 0 Continuous output mode a
bit15 – bit 1 Not used 0
to
RWwn + 15

a : ENABLES/DISABLES the continuous output mode.
Value Meaning
0 DISABLE
1 ENABLE
When enabled, a stop occurs at the status initializing command (=0x0000).
■ ■ Status
Normal end
RWrn + 2
RWrn + 3
RWrn + 5
RWrn + 7
RWrn + 9
RWrn + 11
RWrn + 13
RWrn + 15
Data is shown in integers.
A-187
Continuous output mode
A
RWrn + 2
RWrn + 3
RWrn + 5

RWrn + 7
RWrn + 9
RWrn + 11
RWrn + 13
RWrn + 15
Data is shown in integers.
Abnormal end
to
RWrn + 15

Example:
Use this command as shown at right, to obtain the Address Value
Robot 1 current position data in pulse units RWwn 0x0505
designation. RWwn + 1 0x0000
to
RWwn + 15

Address Value
correctly.
RWrn 0x0200
Axis 1 = 20001 RWrn + 1 0x0000
Axis 3 = -12345 RWrn + 2 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
A-188
● ● Millimeter units designation
Use this command to obtain the robot current position data in millimeter units.
■ ■ Command
Address
RWwn Command code
Contents
bit 11 – bit 0
Value
0xR506
A
RWwn + 1 Command flag bit 0 Continuous output mode a

bit 15 – bit 1 Not used 0
to
RWwn + 15

a : ENABLES/DISABLES the continuous output mode.
Value Meaning
0 DISABLE
1 ENABLE
When enabled, a stop occurs at the status initializing command (=0x0000).
■ ■ Status
Normal end
RWrn + 2
RWrn + 3 Point flag bit 0 Not used 0
bit 15 − bit 11 Not used 0
RWrn + 5
RWrn + 7
RWrn + 9
RWrn + 11
RWrn + 13
RWrn + 15
tt : Shows in 2 bits the hand system.

Valid only for a SCARA robot is specified.
Value Meaning
01 Right-handed is specified.
10 Left-handed is specified.
(*1)
xr / yr : Shows in 4 bits the current position's Arm 1 and Arm 2 rotation information.
Value Meaning
0000 0
0001 1
1111 −1
Data is shown in integers (x1000).
A-189
Continuous output mode
A
RWrn + 2
RWrn + 3 Point flag bit 0 Not used 0

bit 15 − bit 11 Not used 0
RWrn + 5
RWrn + 7
RWrn + 9
RWrn + 11
RWrn + 13
RWrn + 15
tt : Shows in 2 bits the hand system.

Valid only for a SCARA robot is specified.
Value Meaning
01 Right-handed is specified.
10 Left-handed is specified.
(*1)
xr / yr : Shows in 4 bits the current position's Arm 1 and Arm 2 rotation information.
Value Meaning
0000 0
0001 1
1111 −1
Data is shown in integers (x1000).
c CAUTION
(*1)
Abnormal end
to
RWrn + 15

A-190
Example:
Address Value
Robot 1 current position data in millimeter units. RWwn + 1 0x0000
A
to
RWwn + 15

correctly to obtain the following positions in millimeter

RWrn 0x0200
units. RWrn + 1 0x0000
Axis 1 = 20.001 RWrn + 2 0x0000
Axis 3 = -12.345 RWrn + 3 0x0001
Other axes = 0.000 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
A-191
4.7.5 Task status reference
Execute this command to acquire task execution status.
A
■ ■ Command
RWwn + 2 Status acquisition task range designation 0xaaaa

to
RWwn + 15
aaaa : Specifies the status acquisition task range.
Value Meaning
0 Tasks 1 to 8
1 Tasks 9 to 16
■ ■ Status
Normal end
RWrn + 2 Execution status of task 1 (9) 0xaaaa
to
RWrn + 15
aaaa : Shows the execution status of each task.
Value Meaning
0 Stop status
1 Execution status
2 Suspend status
3 Standby status
9 No task
Abnormal end
to
RWrn + 15

A-192
Example:
Address Value
execution status of tasks 1~8. RWwn + 1 0x0000
A
to
RWwn + 15

Address Value
correctly.

RWrn 0x0200
Task 1 : 1 (Execution status) RWrn + 1 0x0000
Task 2 : 1 (Execution status) RWrn + 2 0x0001
Task 3 : 9 (no task) RWrn + 3 0x0001

RWrn + 4 0x0009
Task 4 : 9 (no task)
RWrn + 5 0x0009
Task 5 : 2 (Suspend status)
RWrn + 6 0x0002
Task 6 : 9 (no task)
RWrn + 7 0x0009
RWrn + 10 0x0000
RWrn + 11 0x0000
RWrn + 12 0x0000
RWrn + 13 0x0000
RWrn + 14 0x0000
RWrn + 15 0x0000
A-193
4.7.6 Task execution line reference
Execute this command to acquire information on task execution line.
A
■ ■ Command
RWwn + 2 Execution line acquisition task range designation 0xaaaa

to
RWwn + 15
aaaa : Specifies the status acquisition task range.
Value Meaning
0 Tasks 1 to 8
1 Tasks 9 to 16
■ ■ Status
Normal end
RWrn + 2 Execution line of task 1 (9) 0xaaaa
to
RWrn + 15
aaaa : Shows the execution line of each task.

When no task exists, the value is 0.
Abnormal end
to
RWrn + 15

Example:
Address Value
execution lines of tasks 1~8. RWwn + 1 0x0000
to
RWwn + 15
A-194
Task 1 : Execution on first line RWrn + 1 0x0000
A
Task 2 : Execution on 19th line RWrn + 2 0x0001
Task 3 : no task RWrn + 3 0x0013

RWrn + 4 0x0000
Task 4 : no task
RWrn + 5 0x0000
Task 5 : Execution on 99th line
RWrn + 6 0x0063


RWrn + 10 0x0000
RWrn + 11 0x0000
RWrn + 12 0x0000
RWrn + 13 0x0000
RWrn + 14 0x0000
RWrn + 15 0x0000
A-195
4.7.7 Message reference
Execute this command to acquire alarm message information.
A
■ ■ Command
RWwn + 2 Alarm acquisition number 0xaaaa

to
RWwn + 15
aaaa : Specifies the alarm acquisition number.
Value Contents
1 to 500 Message number saved in the alarm history
■ ■ Status
Normal end
RWrn + 3 Additional information 1 0xccdd
RWrn + 4 Additional information 2 0xeeff
to
RWrn + 15

ccdd : Indicates additional information 1 for the alarm occurrence location.
cc: Category No. Contents

00 Robot ID
01 Controller ID
02 Task number
dd: number Contents

00 No type (for task No. only)
From 01 Robot No. or controller No.
eeff : Indicates additional information 2 for the alarm occurrence location.
ee: Category No. Contents

00 All robots or all controllers
01 Axis number ID
02 Motor number ID
03 Option slot number ID
04 Program task number ID
ff : number Contents
00 No number
From 01 One of the following numbers is used:
Motor number, axis number, option slot number,
program task number
A-196
Abnormal end
A
to
RWrn + 15


Use this command as shown at right, to acquire the RWwn 0x0509
10th message in the alarm history. RWwn + 1 0x0000
RWwn + 2 0x000A
RWwn + 3 0x0000
to
RWwn + 15

(12.531: C1O1 CC-Link communication error)
RWrn + 1 0x000C
RWrn + 2 0x0213
RWrn + 3 0x0101
RWrn + 4 0x0301
RWrn + 5 0x0000
to
RWrn + 15
A-197
4.7.8 Speed status reference
Execute this command to acquire information on current speed status.
A
■ ■ Command
to
RWwn + 15

■ ■ Status
Normal end
RWrn + 2 Speed of specified robot AUTO mode speed 0xaaaa
RWrn + 3 MANUAL mode speed 0xaaaa
RWrn + 4 Program movement speed 0xaaaa
to
RWrn + 15
aaaa : Shows the speed setting (1 to 100).

Shows "0" when no robot axis is specified.
Abnormal end
to
RWrn + 15


Use the speed status reference command as shown at RWwn 0x050A
right, to acquire the speed status of the Robot 1. RWwn + 1 0x0000
to
RWwn + 15

correctly.
Address Value
Robot 1's auto movement speed : 50%
RWrn 0x0200
Robot 1's manual movement speed : 50%
RWrn + 1 0x0000
Robot 1's program movement speed : 50% RWrn + 2 0x0032
RWrn + 3 0x0032
RWrn + 4 0x0032
RWrn + 5 0x0000
to
RWrn + 15
A-198
4.7.9 Arm designation status reference
Execute this command to acquire information on currently designated arm.
A
■ ■ Command

to
RWwn + 15

■ ■ Status
Normal end
RWrn + 2 Status of specified robot 0xaaaa
to
RWrn + 15
aaaa : Shows the arm designation status.

Value Meaning
0 Right-handed system status
1 Left-handed system status
9 Robots other than SCARA robot
Abnormal end
to
RWrn + 15

Example:
Address Value
Use this command as shown at right, to acquire the RWwn 0x050B
status of Robot 1's currently specified arm. RWwn + 1 0x0000
to
RWwn + 15

Robot 1 : 1 (Left-handed system status) RWrn + 1 0x0000
RWrn + 2 0x0001
RWrn + 3 0x0000
RWrn + 4 0x0000
to
RWrn + 15
A-199
4.7.10 Arm status reference
Execute this command to acquire information on the current arm status.
A
■ ■ Command
RWwn Command code bit 11 – bit 0 0xR50C
to
RWwn + 15

■ ■ Status
Normal end
RWrn + 2 Main robot status 0xaaaa
to
RWrn + 15
aaaa : Shows the arm designation status.

Value Meaning
0 Right-handed system status
1 Left-handed system status
9 Robots other than SCARA robot
Abnormal end
to
RWrn + 15


Use this command as shown at right, to acquire the RWwn 0x050C
status of arm. RWwn + 1 0x0000
to
RWwn + 15

Address Value
correctly.
RWrn 0x0200
Robot 1 : 1 (Left-handed system status) RWrn + 1 0x0000
RWrn + 2 0x0001
RWrn + 3 0x0000
RWrn + 4 0x0000
to
RWrn + 15
A-200
4.7.11 Return-to-origin status reference
Execute this command to acquire information on the return-to-origin status.
A
■ ■ Command
RWwn Command code bit 11 – bit 0 0xR50F

RWwn + 2 Motor type designation bit 2 – bit 0 mmm
bit 15 – bit 3 0
to
RWwn + 15

If "0" is set (no robot number designated), the return-to-origin status is acquired for the entire
system.
mmm : Specifies the motor type.
This command is enabled only when the robot number is other than "0".
Bit Pattern Corresponding Axis

001 Incremental type axis
010 Absolute type axis
Other than shown above All axis types
■ ■ Status
Normal end (When the robot designation is "0")
RWrn + 2 Entire system's return-to-origin status 0xaaaa
to
RWrn + 15
aaaa : Show the return-to-origin status for the entire system.
Value Meaning
0 Return-to-origin incomplete
1 Return-to-origin complete
Normal end (When the robot designation is "0")

to
RWrn + 15
aaaa : Shows the return-to-origin status of each axis.
Value Meaning
0 Return-to-origin incomplete
1 Return-to-origin complete
9 Not applicable
A-201
Abnormal end
A
to
RWrn + 15

Use this command to obtain the return-to-origin status RWwn 0x150F
of all the Robot 1 axes as shown at right. RWwn + 1 0x0000

to
RWwn + 15

Axis 1 : 1 (Return-to-origin complete) RWrn + 1 0x0000
Axis 2 : 1 (Return-to-origin complete) RWrn + 2 0x0001
Axis 3 : 0 (Return-to-origin incomplete) RWrn + 3 0x0001

RWrn + 4 0x0000
Axis 4 : 1 (Return-to-origin complete)
RWrn + 5 0x0001
Axis 5 : 9 (no axis)
RWrn + 6 0x0009
Axis 6 : 9 (no axis) RWrn + 7 0x0009
RWrn + 8 0x0000
to
RWrn + 15
A-202
4.7.12 Current torque value (percentage of max. torque) reference
This command is used to obtain the current torque value of the specified axis relative to its maximum torque
value.
■ ■ Command
A

RWwn + 2 Axis for which the current bit 0 Axis 1 tt
torque value is obtained
bit 1 Axis 2
bit 2 Axis 3
bit 3 Axis 4
bit 4 Axis 5
bit 5 Axis 6
to
RWwn + 15

tt : The axis to be referenced is specified from bits 0 to 5.
If not specified, the information is acquired for all axes.
■ ■ Status
Normal end
RWrn + 2 Axis 1 current torque value 0xaaaa
to
RWrn + 15
aaaa : Indicates the current torque value (-100 to 100).

The value is "0" for axes which are not connected.
The value represents the ratio of the current torque value to the maximum torque value. Plus/minus
signs indicate the direction.
Abnormal end
to
RWrn + 15

A-203
Specify a command as shown at right to use the RWwn 0x0510
current torque value (percentage of max. torque) RWwn + 1 0x0000
A
acquisition command to obtain the current torque RWwn + 2 0x0004
value for Axis No.3 of Robot 1. RWwn + 3 0x0000
to
RWwn + 15

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
4.7.13 In-controller date reference
Execute this command to acquire the date inside the controller.
A
■ ■ Command
to

RWwn + 15
■ ■ Status
Normal end
RWrn + 2 Date (Year) 0xyyyy
RWrn + 3 Date (Month) 0xmmmm
RWrn + 4 Date (Day) 0xdddd
to
RWrn + 15
yyyy : Shows the year. (Lower two digits of Christian year) 0 (=0x00) to 63 (=0x99)
mmmm : Shows the month. 1 (=0x01) to 12 (=0x0C)
dddd : Shows the day. 1 (=0x01) to 31 (=0x1F)
Abnormal end
to
RWrn + 15

Example:
Address Value
Use this command to obtain the controller's internal
RWwn 0x0511
date as shown at right.
RWwn + 1 0x0000
to
RWwn + 15

correctly. Address Value
Date (Year) : 14 RWrn 0x0200

RWrn + 1 0x0000
Date (Month) : 1
RWrn + 2 0x000E
Date (Day) :1
RWrn + 3 0x0001
RWrn + 4 0x0001
RWrn + 5 0x0000
to
RWrn + 15
A-205
4.7.14 In-controller time reference
Execute this command to acquire the time inside the controller.
A ■ ■ Command

to
RWwn + 15
■ ■ Status
Normal end
RWrn + 2 Time (Hour) 0xhhhh
RWrn + 3 Time (Minute) 0xmmmm
RWrn + 4 Time (Second) 0xssss
to
RWrn + 15
hhhh : Shows the hour. 0 (=0x00) to 23 (=0x17)

mmmm : Shows the minute. 0 (=0x00) to 59 (=0x3B)
ssss : Shows the second. 0 (=0x00) to 59 (=0x3B)
Abnormal end
to
RWrn + 15

Example:
Address Value
Use this command to obtain the controller's internal
RWwn 0x0512
time as shown at right.
RWwn + 1 0x0000
to
RWwn + 15

correctly.
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
4.7.15 Option slot module information referencing
Execute this command to acquire module information in the controller's optional slot.
■ ■ Command A

RWwn + 2 Controller designation 0xaaaa
to
RWwn + 15
aaaa : Specifies the No. of the controller which is to acquire information.
Value Meaning
1 to 4 Controller No.
■ ■ Status
Normal end
RWrn + 2 Unit number of option slot No. 1 0xaaaa
RWrn + 6 iVY2 unit number 0xaaaa
to
RWrn + 15
aaaa : Indicates the option slot's module number.
Value Meaning
0x0000 None
0x0100 DIO unit (NPN specs. general-purpose input)
0x0102 DIO unit (NPN specs. dedicated input)
0x0200 DIO unit (PNP specs. general-purpose input)
0x0202 DIO unit (PNP specs. dedicated input)
0x0300 CC-Link unit
0x0301 PROFIBUS unit
0x0303 EtherCAT
0x0400 DeviceNet unit
0x0401 EtherNet/IP unit
0x0402 PROFINET unit
0x0500 YC-Link/E master unit
0x0600 YC-Link/E slave unit
0x0700 Unit for Gripper
0x0800 iVY2 unit
0x0802 iVY2 unit + LC
0x0900 Unit for Tracking
A-207
Abnormal end
A
to
RWrn + 15

Address Value
Example: RWwn 0x0513
Use this command to obtain information regarding the RWwn + 1 0x0000
option slot module at Controller 1 as shown at right. RWwn + 2 0x0001
RWwn + 3 0x0000
to
RWwn + 15

correctly.
RWrn 0x0200
Option slot 1 : 0x0300 RWrn + 1 0x0000
(CC-Link unit) RWrn + 2 0x0300
Option slot 2 : 0x0100 RWrn + 3 0x0100
(DIO unit (NPN specs. general-purpose input) RWrn + 4 0x0000
Option slot 3 : 0x0000 (None) RWrn + 5 0x0000
Option slot 4 : 0x0000 (None) RWrn + 6 0x0000

to
RWrn + 15
A-208
4.7.16 Inching movement amount referencing
Execute this command to acquire the movement amount during inching movement operations.
A
■ ■ Command

to
RWwn + 15

■ ■ Status
Normal end
RWrn + 2 Inching movement 0xdddd
to
RWrn + 15
dddd : Indicates the movement amount. 1 (=0x0001) to 10000 (=0x2710)

Abnormal end
to
RWrn + 15

Example:
Address Value
Use this command to obtain the inching movement
RWwn 0x0514
amount of the Robot 1 as shown at right.
RWwn + 1 0x0000
to
RWwn + 15

Robot 1 inching movement amount: 100 RWrn + 1 0x0000
RWrn + 2 0x0064
RWrn + 3 0x0000
to
RWrn + 15
A-209
4.7.17 Remote command latest alarm referencing
This command refers the most recent alarm information which occurred during remote command execution.
A
■ ■ Command
to
RWwn + 15
■ ■ Status
Normal end
RWrn + 3 Additional information 1 0xccdd
RWrn + 4 Additional information 2 0xeeff
to
RWrn + 15

ccdd : Indicates additional information 1 for the alarm occurrence location.
cc: Category No. Contents

00 Robot ID
01 Controller ID
02 Task number
dd: number Contents

00 No type (for task No. only)
From 01 Robot No. or controller No.
eeff : Indicates additional information 2 for the alarm occurrence location.
ee: Category No. Contents

00 All robots or all controllers
01 Axis number ID
02 Motor number ID
03 Option slot number ID
04 Program task number ID
ff : number Contents
00 No number
From 01 One of the following numbers is used:
Motor number, axis number, option slot number,
program task number
Abnormal end
to
RWrn + 15

A-210
Use this command to obtain the latest alarm as shown at right. RWwn 0x0515
RWwn + 1 0x0000
A
to
RWwn + 15

(2:334 : R1A1 : Over soft limit) RWrn + 1 0x0002
RWrn + 2 0x014E
RWrn + 3 0x0001
RWrn + 4 0x0101
RWrn + 5 0x0000
to
RWrn + 15
A-211
4.7.18 Current torque value (percentage of rated torque) reference
This command is used to obtain the current torque value of the specified axis relative to its rated torque value.
A
■ ■ Command
RWwn + 2 Axis for which the current bit 0 Axis 1 tt

torque value is obtained
bit 1 Axis 2
bit 2 Axis 3
bit 3 Axis 4
bit 4 Axis 5
bit 5 Axis 6
to
RWwn + 15

tt : The axis to be referenced is specified from bits 0 to 5.
If not specified, the information is acquired for all axes.
■ ■ Status
Normal end
to
RWrn + 15
aaaa : Indicates the current torque value (-1000 to 1000).

The value is "0" for axes which are not connected.
The value represents the ratio of the current torque value to the rated torque value. Plus/minus signs
indicate the direction.
Abnormal end
to
RWrn + 15

A-212
Specify a command as shown at right to use the RWwn 0x0516
current torque value (percentage of rated torque) RWwn + 1 0x0000
A
acquisition command to obtain the current torque RWwn + 2 0x0004
value for Axis No.3 of Robot 1. RWwn + 3 0x0000
to
RWwn + 15

Robot 1, Axis 3: 100 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
Category 7 remote commands are used to set the utility mode.
A
7-1 In-controller date setting operation 0x0602
7-2 In-controller time setting operation 0x0603
7-3 Alarm reset command 0x0604
4.8.1 In-controller date setting operation

This command sets the date inside the controller.
■ ■ Command
RWwn + 2 Date setting (year) 0xyyyy
RWwn + 3 Date setting (month) 0xmmmm
RWwn + 4 Date setting (day) 0xdddd
to
RWwn + 15
yyyy : Shows the year. (Lower two digits of Christian year) 0 (=0x00) to 63 (=0x99)
mmmm : Shows the month. 1 (=0x01) to 12 (=0x0C)
dddd : Shows the day. 1 (=0x01) to 31 (=0x1F)
■ ■ Status
Normal end
to
RWrn + 15
Abnormal end
to
RWrn + 15

A-214
Use this command to set the controller's internal date RWwn 0x0602
as shown below. RWwn + 1 0x0000
A
Date (Year) : 14 RWwn + 2 0x000E
Date (Month) : 2 RWwn + 3 0x0002

RWwn + 4 0x0002
Date (Day) :2
RWwn + 5 0x0000
to

RWwn + 15

Address Value
correctly.
RWrn 0x0200
RWrn + 1 0x0000
RWrn + 2 0x0000
RWrn + 3 0x0000
RWrn + 4 0x0000
to
RWrn + 15
A-215
4.8.2 In-controller time setting operation
This command sets the time inside the controller.
A
■ ■ Command
RWwn + 2 Time setting (hour) 0xhhhh
RWwn + 3 Time setting (minute) 0xmmmm

RWwn + 4 Time setting (second) 0xssss
to
RWwn + 15
hhhh : Shows the hour. 0 (=0x00) to 23 (=0x17)

mmmm : Shows the minute. 0 (=0x00) to 59 (=0x3B)
ssss : Shows the second. 0 (=0x00) to 59 (=0x3B)
■ ■ Status
Normal end
to
RWrn + 15
Abnormal end
to
RWrn + 15

Use this command to set the controller's internal time RWwn 0x0603
as shown below. RWwn + 1 0x0000
Time (Hour) :8 RWwn + 2 0x0008

RWwn + 3 0x002D
Time (Minute) : 45
RWwn + 4 0x0000
Time (Second) : 0
RWwn + 5 0x0000
to
RWwn + 15

correctly. Address Value
RWrn 0x0200
RWrn + 1 0x0000
RWrn + 2 0x0000
RWrn + 3 0x0000
RWrn + 4 0x0000
to
RWrn + 15
A-216
4.8.3 Alarm reset command
This command resets the controller's internal alarm.
A
■ ■ Command
to

RWwn + 15
■ ■ Status
Normal end
to
RWrn + 15
Abnormal end
to
RWrn + 15

Example:
Address Value
Use this command to reset the controller's internal
RWwn 0x0604
alarm as shown at right.
RWwn + 1 0x0000
to
RWwn + 15

Address Value
correctly.
RWrn 0x0200
RWrn + 1 0x0000
RWrn + 2 0x0000
RWrn + 3 0x0000
RWrn + 4 0x0000
to
RWrn + 15
A-217
Revision record
Manual version Issue date Description

Ver. 1.00 Nov. 2014 First edition
Ver. 1.10 Nov. 2014 "SO (04) MP RDY Status Output" was added to the "Profile"
section in Chapter 5. Information regarding the CSP+ file was
added in Chapter 6. In the Remote command guide section, the
MOVET movement command's "Point designation movement"
was changed to "PTP point designation". The "Current torque
reference" item was changed to "Current torque value (percentage
of max. torque) reference". The "Current torque value (percentage
of rated torque) reference" item was added. Other revisions
included content error corrections, etc.
Ver. 1.11 Oct. 2016 Clerical error corrections, etc.
Ver. 1.12 Feb. 2017 Contact information was changed.
Ver. 1.13 Jun. 2018 "Warranty" was changed. Clerical error corrections, etc.
Ver. 1.15 Aug. 2018 The WEIGHTG command was added to "Parameter-related
command" in Remote command guide.
Clerical error corrections, etc.
Ver. 1.20 Nov. 2019 Controller RCX320 was added.
User’s Manual
Network Board RCX 3 Series
CC-Link
Nov. 2019
Ver. 1.20
YAMAHA MOTOR CO., LTD. Robotics Operations

All rights reserved. No part of this publication may be reproduced in any
form without the permission of YAMAHA MOTOR CO., LTD.
The contents of this manual are subject to change without prior notice.
Information furnished by YAMAHA in this manual is believed to be
reliable. However, no responsibility is assumed for possible inaccuracies
or omissions. If you find any part unclear in this manual, please contact
your distributor.
Robotics Operations
127 Toyooka, Kitaku, Hamamatsu, Shizuoka, 433-8103, Japan
Tel. 81-53-525-8250 Fax. 81-53-525-8378
Robot manuals can be downloaded from our company website.

Please use the following for more detailed information.
https://global.yamaha-motor.com/business/robot/
YAMAHA MOTOR CO., LTD.

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YAMAHA NETWORK BOARD

CC-Link User’s Manual

Ver. 1.20 E781

Important information before reading this manual

Safety Precautions (Always read before starting use) ii

3. Part names and functions 1-3

4. I/O assignments of CC-Link compatible module 1-4

2. Noise measures 2-2

3. Connecting to the CC-Link system 2-3

2. Initial process for connecting to CC-Link system 3-2

3. Communication with the master module 3-3

4. Referring to the communication data 3-6

4.2 Input/output details display 3-7

2. Meanings of LEDs on CC-Link compatible module 4-2

4. Error messages relating to CC-Link 4-5

2. Details of remote input/output signals 5-4

3. Dedicated input/output signal timing chart 5-7

4. CC-Link compatible module specifications 5-11

2. CSP+ files 6-2

Remote command guide

2. Sending and receiving remote commands A-3

3. Remote command & remote status tables A-4

4. Remote command description A-9

4.2 Category 1 remote commands A-10

4.2.16 Program movement speed change command A-98

Point addition/subtraction A-158

Safety Precautions (Always read before starting use) ii

Important information before reading this manual

CC-Link is a registered trademark of CC-Link partner association.

■ ■ Precautions for design

Important information before reading this manual

■ ■ Precautions for starting and maintenance

■ ■ Precautions for disposal

■ ■ This warranty does not cover any failure caused by:

■ ■ The following cases are not covered under the warranty:

3. Part names and functions 1-3

4. I/O assignments of CC-Link compatible module 1-4

CC-Link is a registered trademark of CC-Link partner association.

Master module (1) Robot controller

* The robot controller monitors the ON/OFF information at a 5ms cycle.

1. CC-Link system connector

Front of the module

1. CC-Link system connector

2. Transmission monitor LED

Lit in red A serious error has occurred.

Flashing red A CRC error has occurred.

Lit in green Normal connection to the network is established.

Lit in red A serious error has occurred.

Output from robot controller Input to robot controller

SOW(1) *3 RWr1 SIW(1) *3 RWw1

SOW(2) RWr2 SIW(2) RWw2

SOW(4) RWr4 SIW(4) RWw4

SOW(6) RWr6 SIW(6) RWw6

SOW(8) RWr8 SIW(8) RWw8

SOW(10) RWrA SIW(10) RWwA

SOW(12) RWrC SIW(12) RWwC

SOW(14) RWrE SIW(14) RWwE

SO0(7~0) *1 RXn7~RXn0 SI0(7~0) *1 RYn7~RYn0

SOW(1) 3 RWr1 SIW(1) 3 RWw1

SO0(7~0) 1 RXn7~RXn0 SI0(7~0) 1 RYn7~RYn0