Yamaha SRCP User Manual page 191

Single-axis robot controller
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(21)@CSEL <array element number>
Specifies an array element for the counter array variable C to be used.
Array element number
Transmission example
Response example
(22)@C <counter value>
Sets a specified value in the counter array variable C specified with the CSEL statement.
Counter value
Transmission example
Response example
(23)@C+ [<addition value>]
Adds a specified value to the counter array variable C.
Addition value
Transmission example
Response example
(24)@C- [<subtraction value>]
Subtracts a specified value from the counter array variable C.
Subtraction value
Transmission example
Response example
(25)@D <counter value>
Sets a specified value in the counter variable D.
Counter value
Transmission example
Response example
11-5 Communication Command Description
: This is a number used to designate an array element for the
counter array variable C, and can be from 0 to 31. The counter
variable D can also be specified here as the array element.
: @CSEL 1 c/r l/f ............................ Uses the counter array variable
: OK c/r l/f
: This can be any value from 0 to 65535.
: @C 100 c/r l/f ............................... Sets the counter array variable
: OK c/r l/f
: This can be any value from 1 to 65535. If this value is omitted,
then 1 is added to the counter array variable.
: @C+ c/r l/f ................................... Increments the counter array
: OK c/r l/f
: This can be any value from 1 to 65535. If this value is omitted,
then 1 is subtracted from the counter array variable.
: @C- c/r l/f .................................... Decrements the counter array
: OK c/r l/f
: This can be any value from 0 to 65535.
: @D 100 c/r l/f .............................. Sets the counter variable D to
: OK c/r l/f
C of element number 1 in the
subsequent steps.
C to 100.
variable C. (C ← C+1)
variable C. (C ← C-1)
100.
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