Yamaha DRCX User Manual page 265

11-5 Communication Command Description
11
32
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(32-4) @WRITE ALL
Writes all data (parameters, programs and points) at one time. The controller will transmit READY
when this command is received. Confirm that READY is received and then transmit all data.
Always transmit ^Z (=1AH) at the end of the data.
Transmission example
c
CAUTION
• Always place one or more empty line to separate between each data group (parameters, programs, points).
• There is no specific rule in the data group sequence. There can be data groups that are not written in.
• When @WRITE ALL is executed, the previous data of the same program number or point number is
overwritten. (The previous data remains as long as its program number or point number differs from the
program number or point number to be written.)
• Loading unsuitable robot data to the DRCX can inhibit the robot controller performance, possibly resulting in
failures, malfunctions, and errors.
(33)@?ERR <history number>[,<display count>]
Displays a specified number of past errors, starting from a specified history number.
A maximum of 100 past errors can be displayed.
This error history shows the time (total elapsed time from controller start-up) that each error
occurred and a description of the error.
This command is available with controller version 18.50 or later.
History number
Display count
Transmission example
Response example
: Send
@WRITE ALL c/r l/f
PRM0=8 c/r l/f
PRM1=0 c/r l/f
c/r l/f
NO10 c/r l/f
CALL 0, 20 c/r l/f
STOP c/r l/f
c/r l/f
P1=550.00,300.00 c/r l/f
^Z(=1AH)
: This number is assigned to each error sequentially from 0 to 99 in
the order the errors occurred. History number 0 indicates the
most recent error that occurred. A larger history number indicates
it is an older error.
: Specify the number of errors you want to display from 1 to 100.
If this entry is omitted, only one error is displayed.
: @?ERR 0,2 c/r l/f ......................... Displays the two most recent
: 00:00101,05:11:12,PIO,52 : NO POINT DATA c/r l/f
01:00096,18:10:02,CMU,30: SOFT LIMIT OVER c/r l/f
OK c/r l/f ...................................... The most recent error that
Receive
READY c/r l/f
OK c/r l/f
errors that occurred.
occurred was a "no point data"
error in a parallel I/O com-
mand occurring 101 days, 5
hours, 11 minutes and 12
seconds after the DRCX
controller has started. The next
most recent error was a "soft
limit over" error during TPB
or RS-232C operation occur-
ring 96 days, 18 hours, 10
minutes and 2 seconds after
the DRCX controller has
started.