Yamaha SRCP User Manual page 186

11-5 Communication Command Description
11
10
11-
(6)@X+, (@X-)
@X+ moves the robot to the + side and @X- to the - side based on the following equation.
Movement distance = 1 × (PRM26/100) (mm)
(7)@XINC, (@XDEC)
@XINC moves the robot to the + side and @XDEC to the - side at a speed calculated by the
equation below. The robot continues moving until the ^C code is input or the robot reaches the
soft limit.
Movement speed = 100 × (PRM26/100) (mm/sec.)
c
CAUTION
The soft limit will not work unless return-to-origin has been performed.
(8)@MOVD <X-axis position (mm)>,<speed>
Moves the robot to a specified coordinate position.
X-axis position
Speed
Transmission example
Response example 1
Response example 2
PRM26: Teaching movement data (%)
: Specify the target position to move the robot to.
: The speed can be set to any level between 1 and 100. If PRM30
(Maximum program speed) is 100, then 100 will be equal to 2000
mm/sec (when PRM44=2000).
: @MOVD 50.37,100 c/r l/f ........... Moves the robot to the posi-
: OK c/r l/f
: NG c/r l/f ...................................... The target position exceeds the
30: soft limit over c/r l/f
PRM26: Teaching movement data (%)
tion at 50.37 mm, at 100%
speed.
soft limit. Change the target
position or soft limit param-
eter.