Yamaha SRCP User Manual page 188

11-5 Communication Command Description
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12
11-
(11)@MOVF <point number>,<DI number>,<DI status>
This command moves the robot toward a position specified by a point number until a specified DI
input condition is met. When the DI condition is met, the robot stops and the command termi-
nates. Even if the DI condition is not met, the command terminates when the target point is reached.
Point number
DI number
DI status
Transmission example
Response example
c
CAUTION
The movement speed is set with PRM9 (MOVF speed) and independent of the PRM30 setting (Maximum
program speed).
(12)@DO <general-purpose output or memory output number>,<output status>
Turns a general-purpose output or memory output on or off.
Output number
Output status
Transmission example
Response example
(13)@WAIT <general-purpose input or memory input number>,<input status>
Waits until a specified general-purpose input or memory input is switched to a specified status.
Input number
Input status
Transmission example
Response example
(14)@TIMR <time>
Waits a specified amount of time.
Time
Transmission example
Response example
: This is a number assigned to each point (position data) and can
be from 0 to 999 (a total of 1,000 points). Data for the point
numbers can be edited with the @WRITE PNT statement. The
point variable "P" can also be used.
: Specify one of the general-purpose inputs DI0 to DI7.
: Specify 1 (ON) or 0 (OFF) as the input condition.
: @MOVF 2,10,l c/r l/f ................... Moves to point 2 until DI10
: OK c/r l/f
: Specify one of the general-purpose outputs from 0 to 4 (5 points)
or one of the memory outputs from 100 to 131 (32 points).
: Specify 1 (ON) or 0 (OFF).
: @DO 3,1 c/r l/f ............................. Turns on general-purpose
: OK c/r l/f
: Specify one of the general-purpose inputs from 0 to 7 (8 points)
or one of the memory inputs from 100 to 147 (48 points).
: Specify 1 (ON) or 0 (OFF).
: @WAIT l,l c/r l/f .......................... Waits until DI1 becomes 1
: OK c/r l/f
: Set the time between 1 and 65535 in units of 10ms.
: @TIMR 100 c/r l/f ....................... Waits one second.
: OK c/r l/f
becomes 1 (ON).
output 3.
(ON).