Yamaha SRCP User Manual page 201

Single-axis robot controller
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(22-6) @READ DIO
Reads the on/off status of DIO. Refer to "4-3-4 DIO monitor screen".
Transmission example
Response example
(22-7) @READ MIO
Reads the on/off status of memory I/O. From the left, the top line shows MIO numbers from 115
to 100, the middle line from 131 to 116, and the bottom line from 147 to 132.
Transmission example
Response example
(22-8) @READ INF
Reads the status of the registered programs. The registered program numbers and number of steps
are displayed.
Transmission example
Response example
(23-1) @WRITE PGM
Writes the program data. The controller will transmit READY when this command is received.
Confirm that READY is received and then transmit the program data. Always transmit ^Z (=1AH)
at the end of the data.
Transmission example
c
CAUTION
When @WRITE PGM is executed, the previous data of the same program number is overwritten. (The previous
data remains as long as its program number differs from the program number to be written.)
11-5 Communication Command Description
: @READ DIO c/r l/f
: D I 00000000 00000000 c/r l/f
DO 11100000 O:0 S:1
OK c/r l/f
: @READ MIO c/r l/f
: M
00000000 00000000 c/r l/f
00000000 00000000 c/r l/f
00000000 00000001 c/r l/f
OK c/r l/f
: @READ INF c/r l/f
: NO0- 43 steps c/r l/f
NO1- 52 steps c/r l/f
NO31- 21 steps c/r l/f
^Z (=1AH)
OK c/r l/f
: Send
@WRITE PGM c/r l/f
NO0 c/r l/f
MOVA 0,100 c/r l/f
JMPF 0,31,12 c/r l/f
NO31 c/r l/f
STOP c/r l/f
^Z(=1AH)
c/r l/f
Receive
READY c/r l/f
OK c/r l/f
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