Communication Command Lists - Yamaha TS-S User Manual

2. Communication command lists
Robot operation commands
n
Command
START
STOP
ORG
JOG+
JOG-
INCH+
INCH-
Status change commands
n
Command
SRVO
BRK
RESET
Edit commands
n
Command
M
P
P_
S
S_
AC
AC_
DC
DC_
Q
Q_
ZL
ZH
N
J
F
T
TEACH
COPY
DEL
K
SETID
Format
@START<point number>[.<n>]
@STOP[.<n>]
@ORG[.<n>]
@JOG+[.<n>]
@JOG-[.<n>]
@INCH+[.<n>]
@INCH-[.<n>]
Format
@SRVO<1 or 0>[.<n>]
@BRK<1 or 0>[.<n>]
@RESET[.<n>]
Format
@M<point number>[.<n>]=<setting value>
@P<point number>[.<n>]=<setting value>
@P_<point number>[.<n>]=<setting value>
@S<point number>[.<n>]=<setting value>
@S_<point number>[.<n>]=<setting value>
@AC<point number>[.<n>]=<setting value>
@AC_<point number>[.<n>]=<setting value>
@DC<point number>[.<n>]=<setting value>
@DC_<point number>[.<n>]=<setting value>
@Q<point number>[.<n>]=<setting value>
@Q_<point number>[.<n>]=<setting value>
@ZL<point number>[.<n>]=<setting value>
@ZH<point number>[.<n>]=<setting value>
@N<point number>[.<n>]=<setting value>
@J<point number>[.<n>]=<setting value>
@F<point number>[.<n>]=<setting value>
@T<point number>[.<n>]=<setting value>
@TEACH<point number>[.<n>]
@COPY<point number 1>-<point number 2>[.<n>]
@DEL<point number 1>[-<point number 2>][.<n>]
@K<parameter number>[.<n>]=<setting value>
@SETID
Command Description
Positioning operation
Operation stop
Return-to-origin
JOG movement (+ direction)
JOG movement (- direction)
Inching movement (+ direction)
Inching movement (- direction)
Command Description
Servo status change
Brake status change
Reset
Command Description
Operation type
Position
(Data is not saved into
the memory.)
Speed
(Data is not saved into
the memory.)
Acceleration
(Data is not saved into
the memory.)
Point data
Deceleration
(Data is not saved into
writing
the memory.)
Push
(Data is not saved into
the memory.)
Zone (-)
Zone (+)
Near width
Jump
Flag
Timer
Current position teaching
Point data copying
Point data deleting
Parameter data writing
Automatic node number setting (when daisy
chain function is used)
B
n: Node number
n: Node number
n: Node number
B-3