Query Commands; Point Data Reading (?M, ?P, ?S, ?Ac, ?Dc, ?Q, ?Zl, ?Zh, ?N, ?J, ?F, ?T) - Yamaha TS-S User Manual

3.4
The query commands are intended to read the data or robot status.
B
Point data reading (?M, ?P, ?S, ?AC, ?DC, ?Q, ?ZL, ?ZH, ?N, ?J, ?F, ?T)
Format
Meaning
Function
Reads the individual data of a specified point.
The command may vary depending on the type of individual data. For details, see the table below.
Command and data type
n
n
NOTE
The individual data of the point data related to the position or speed may include the decimal point due to the
specifications. However, when handling such data using the communication command, all of data are handled
as integer values. For example, when the position data is "20 [mm]", the communication command at the TS-S,
TS-S2, TS-SH, and TS-X would be "2000" (×10
(×10
Setting
<Point number> : 1 to 255
<Node number> : 1 to 16 (This setting can be omitted when the same command is sent to all the controllers connected
B-14
Quer y commands
@?M<point number>[.<node number>] c/r l/f
@?P<point number>[.<node number>] c/r l/f
@?S<point number>[.<node number>] c/r l/f
@?AC<point number>[.<node number>] c/r l/f
@?DC<point number>[.<node number>] c/r l/f
@?Q<point number>[.<node number>] c/r l/f
@?ZL<point number>[.<node number>] c/r l/f
@?ZH<point number>[.<node number>] c/r l/f
@?N<point number>[.<node number>] c/r l/f
@?J<point number>[.<node number>] c/r l/f
@?F<point number>[.<node number>] c/r l/f
@?T<point number>[.<node number>] c/r l/f
Reads the individual data of a specified point.
Command
?M Operation type
?P Position
?S Speed
?AC Acceleration
?DC Deceleration
?Q Push
?ZL Zone (-)
?ZH Zone (+)
?N Near width
?J Jump
?F Flag
?T Timer
-3
). In both cases, no decimal point is used.
with the host device, as by daisy chain connection.)
Type
Standard Setting
-2
), and the communication command at the TS-P would be "20000"
Unit
Custom Setting
-
Other than TS-P : 0.01mm
TS-P : 0.001mm
% 0.01mm/s
% 0.01m/s
%
%
Other than TS-P : 0.01mm
TS-P : 0.001mm
Other than TS-P : 0.01mm
TS-P : 0.001mm
Other than TS-P : 0.01mm
TS-P : 0.001mm
-
-
ms
2