Table of Contents
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11-4 Communication Command List
11
6
11-
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2. Data handling
No.
Operation code
Operand 1
1.
?POS
[axis]
2.
?XPOS
3.
?YPOS
4.
?NO
5.
?SNO
6.
?TNO
7.
?PNO
8.
?STP
program number
9.
?MEM
10.
?VER
11.
?ROBOT
12.
?CLOCK
13.
?ALM
history number
14.
?EMG
15.
?SRVO
[axis]
16.
?ORG
[axis]
17.
?XGRDP
18.
?YGRDP
19.
?MODE
20.
?MAT
pallet number
21.
?MSEL
22.
?PVA
23.
?CSEL
24.
?C
[array element
number]
25.
?D
26.
?SHFT
input number
27.
?DI
28.
?DO
output number
29.
parameter number
?PRM
parameter number
30.
point number
?P
point number
31.
program number
READ
PGM
PNT
PRM
ALL
DIO
MIO
INF
32.
PGM
WRITE
PNT
PRM
ALL
33.
history number
?ERR
Operand 2
Operand 3
Reads current position of all axes or a
specified axis
Reads current position of X-axis
Reads current position of Y-axis
Reads current program number
Reads current step number
Reads current task number
Reads current point number
Reads total number of steps in specified
program
Reads number of steps that can be added
Reads ROM version number
Reads robot number
Reads total operation time of controller
Reads alarm history
[display count]
Confirms emergency stop status
Confirms servo status of all axes or a
specified axis
Confirms return-to-origin status of all axes
or a specified axis
Reads X-axis grid position (%)
Reads Y-axis grid position (%)
Confirms operation mode
Reads matrix definition contents
Reads currently specified matrix number
Reads current point variable P
Reads currently specified element
number of counter array variable C.
Reads current counter array variable C
Reads current counter variable D
Reads current shift data
Reads general-purpose input or memory
input status
Reads general-purpose output or memory
output status
Reads specified parameter data
Reads specified multiple parameter data
parameter number
Reads specified point data
Reads specified multiple point data
point number
Reads specified program data
step number
number of steps
Reads all program data
Reads all point data
Reads all parameter data
Batch reads all program, point and
parameter data
Reads input/output information
Reads memory input/output information
Reads registered program information
Writes program data
Writes point data
Writes parameter data
Batch writes program, point and
parameter data
[display count]
Reads error history
Command details
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Troubleshooting
