Utilities - Yamaha DRCX User Manual

11-5-3 Utilities

(1-1) @INIT PGM
Initializes all program data.
Transmission example
Response example
(1-2) @INIT PNT
Initializes all point data.
Transmission example
Response example
(1-3) @INIT PRM <dual-axis robot type>
Initializes the parameter data to match the specified dual-axis robot.
For robot numbers, refer to "15-1-2 Robot number list".
Transmission example
Response example
c
CAUTION
After initialization, change the lead length parameters (X-axis: PRM60, Y-axis: PRM100) to match the robot
lead length.
c
CAUTION
When a Cartesian robot (XY robot) such as SXYx and MXYx is specified, always enter the Y-axis stroke (in mm)
after initialization. (See below.)
Transmit/receive example: (When Y-axis stroke is 250 mm)
(1-4) @INIT CPRM
Initializes the common parameters to the default value.
Transmission example
Response example
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
11-5 Communication Command Description
: @INIT PGM c/r l/f
: OK c/r l/f
: @INIT PNT c/r l/f
: OK c/r l/f
: @INIT PRM 110 c/r l/f ................ Parameter data is initialized to
: OK c/r l/f
Transmit
@WRITE PRMc/r l/f
PRM58=250c/r l/f
^Z (=1AH)
: @INIT CPRM c/r l/f
: OK c/r l/f
match the model SXYx robot.
Receive
READY c/r l/f
OK c/r l/f
11-
11
33