Yamaha TS-S User Manual page 236

Yamaha single-axis robot controller ts series
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Quer y commands
n
Command
B
?M
?P
?S
?AC
?DC
?Q
?ZL
?ZH
?N
?J
?F
?T
?K
?D
?IN
?INB
?OUT
?OUTB
?WIN
?WOUT
?OPT
?OPTB
?ALM
?WARN
B-4
Format
@?M<point number>[.<n>]
@?P<point number>[.<n>]
@?S<point number>[.<n>]
@?AC<point number>[.<n>]
@?DC<point number>[.<n>]
@?Q<point number>[.<n>]
@?ZL<point number>[.<n>]
@?ZH<point number>[.<n>]
@?N<point number>[.<n>]
@?J<point number>[.<n>]
@?F<point number>[.<n>]
@?T<point number>[.<n>]
@?K<parameter number>[.<n>]
@?D<status number>[.<n>]
@?IN<input number>[.<n>]
@?INB<input bit number>[.<n>]
@?OUT<output number>[.<n>]
@?OUTB<output bit number>[.<n>]
@?WIN<word input number>[.<n>]
@?WOUT<word output number>[.<n>]
@?OPT<option number>[.<n>]
@?OPTB<option bit number>[.<n>]
@?ALM<alarm occurrence number>[.<n>]
@?WARN<warning occurrence number>[.<n>]
Command Description
Operation type
Position
Speed
Acceleration
Deceleration
Push
Point data
reading
Zone (-)
Zone (+)
Near width
Jump
Flag
Timer
Parameter data reading
Status information reading
Input information reading
Input information (bit) reading
Output information reading
Output information (bit) reading
Input word information reading
Output word information reading
Option information reading
Option information (bit) reading
Alarm information reading
Warning information reading
n: Node number

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