Yamaha SRCP User Manual page 196

11-5 Communication Command Description
11
20
11-
(13)@?EMG
Reads the emergency stop status.
Transmission example
Response example 1
Response example 2
(14)@?SRVO
Reads the servo status.
Transmission example
Response example 1
Response example 2
(15)@?ORG
Reads whether or not return-to-origin has been completed.
Transmission example
Response example 1
Response example 2
(16)@?MODE
Reads the robot status.
Transmission example
Response example 1
Response example 2
Response example 3
: @?EMG c/r l/f
: 0 c/r l/f .......................................... Emergency stop is off.
OK c/r l/f
: 1 c/r l/f .......................................... Emergency stop is on.
OK c/r l/f
: @?SRVO c/r l/f
: 0 c/r l/f .......................................... Servo is off.
OK c/r l/f
: 1 c/r l/f .......................................... Servo is on.
OK c/r l/f
: @?ORG c/r l/f
: 0 c/r l/f .......................................... Return-to-origin not com-
OK c/r l/f
: 1 c/r l/f .......................................... Return-to-origin completed.
OK c/r l/f
: @?MODE c/r l/f
: 0 c/r l/f .......................................... Robot is stopped.
OK c/r l/f
: 1 c/r l/f .......................................... Program is being executed
OK c/r l/f
: 2 c/r l/f .......................................... Program is being executed by
OK c/r l/f
pleted.
from TPB or PC.
I/O command.