Yamaha DRCX User Manual page 243

11-5 Communication Command Description
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(5)@SRVO <servo status> [,<axis>]
Controls the servo on/off operation of all axes or a specified axis.
Servo status
Axis
Transmission example
Response example
(6)@X+, (@X-)
@X+ moves the robot to the + side and @X- to the - side based on the following equation.
Movement distance = 1 × (PRM12/100) (mm)
c
CAUTION
If the robot uses a rotary axis, the distance units are in degrees.
(7)@Y+, (@Y-)
This moves the Y-axis to the + or - side, based on the following equation.
Movement distance = 1 × (PRM12/100) (mm)
c
CAUTION
If the robot uses a rotary axis, the distance units are in degrees.
(8)@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 × (PRM12/100) (mm/sec.)
c
CAUTION
If the robot uses a rotary axis, then speed units are in deg/sec.
c
CAUTION
The soft limit will not work unless return-to-origin has been performed.
(9)@YINC, (@YDEC)
@YINC moves the Y-axis to the + side and @YDEC to the - side, at a speed calculated by the
equation below. The robot continues moving until the ^C code is input or the robot arrives at the
soft limit.
Movement speed = 100 × (PRM12/100) (mm/sec)
c
CAUTION
If the robot is a rotary axis, the speed units are in deg/sec.
c
CAUTION
The soft limit will not function unless return-to-origin has been performed.
: Specify 1 to turn the servo on or 0 to turn it off.
: "0" for all axes, "1" for the X-axis, and "2" for the Y-axis.
If this setting is omitted, all axes are selected.
: @SRVO 0 c/r l/f ........................... Turns off the servo of all axes.
: OK c/r l/f
PRM12: Teaching movement data (%)
PRM12: Teaching movement data (%)
PRM12: Teaching movement data (%)
PRM12: Teaching movement data (%)