Yamaha DRCX User Manual page 259

2-axis robot controller
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11-5 Communication Command Description
11
26
11-
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(22)@?PVA
Reads the point variable P. In multi-task operation, this command reads the program information
on the task currently selected.
Transmission example
Response example
c
CAUTION
The contents of the point variable P are held even when the DRCX is turned off. However, when the program is
reset or when the program reset is applied for example by switching the execution program, the point variable P
will be initialized to 0.
(23)@?CSEL
Reads the currently specified element number of the counter array variable C. In multi-task opera-
tion, this command reads the program information on the task currently selected.
Transmission example
Response example
(24)@?C [<array element number>]
Reads the value in the counter array variable C of the specified element number.
Element number
Transmission example
Response example
(25)@?D
Reads the counter variable D.
Transmission example
Response example
(26)@?SHFT
Reads the shift data currently set. In multi-task operation, this command reads the program infor-
mation on the task currently selected.
Transmission example
Response example
: @?PVA c/r l/f
: 0 c/r l/f
OK c/r l/f
: @?CSEL c/r l/f
: 0 c/r l/f
OK c/r l/f
: This is a number used to specify each array element and can be
from 0 to 31. If this entry is omitted, the element number selected
with the @CSEL command is used.
: @?C c/r l/f
OK c/r l/f
: 21202 c/r l/f
OK c/r l/f
: @?D c/r l/f
: 21202 c/r l/f
OK c/r l/f
: @?SHFT c/r l/f
: 150.00, 250.00 c/r l/f
OK c/r l/f

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