Yamaha SRCP User Manual page 182

11-4 Communication Command List
11
6
11-
2. Data handling
No. Operation code Operand 1
1. ?POS
2. ?NO
3. ?SNO
4. ?TNO
5. ?PNO
6. ?STP program number
7. ?MEM
8. ?VER
9. ?ROBOT
10. ?CLOCK
11. ?ALM history number
12. ?ERR history number
13. ?EMG
14. ?SRVO
15. ?ORG
16. ?MODE
17. ?PVA
18. ?DI input number
output number
19. ?DO
parameter number
20. ?PRM
parameter number
point number
21. ?P
point number
program number
READ
22.
PGM
PNT
PRM
ALL
DIO
MIO
INF
23. WRITE PGM
PNT
PRM
ALL
24. pallet number
?MAT
25.
?MSEL
26.
?CSEL
[array element
27. ?C
number]
28.
?D
29.
?SHFT
Operand 2 Operand 3
Reads current position
Reads current program number
Reads current step number
Reads current task number
Reads current point number
Reads total number of steps in specified
program
Reads number of steps that can be added
Reads ROM version number
Reads robot number
Reads total operation time of controller
[display count] Reads alarm history
[display count] Reads error history
Confirms emergency stop status
Confirms servo status
Confirms return-to-origin status
Confirms operation mode
Reads current point variable P
Reads general-purpose input or memory
input status
Reads general-purpose output or memory
output status
Reads specified parameter data
parameter number Reads specified multiple parameter data
Reads specified point data
point number Reads specified multiple point data
step number number of steps Reads specified program data
Reads all program data
Reads all point data
Reads all parameter data
Batch reads all program, point and
parameter data
Reads input/output information
Reads memory input/output information
Reads registered program information
Writes program data
Writes point data
Writes parameter data
Batch writes program, point and
parameter data
Reads matrix definition contents
Reads currently specified matrix number
Reads currently specified element
number of counter array variable C.
Reads current counter array variable C
Reads current counter variable D
Reads current shift data
Command details