Yamaha SRCP User Manual page 197

Single-axis robot controller
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(17)@?PVA
Reads the point variable P. In multi-task operation, this command reads the program information
on the task currently selected.
Transmission example
Response example
c
CAUTION
The contents of the point variable P are held even when the SRCP is turned off. However, when the program is
reset or when the program reset is applied for example by switching the execution program, the point variable P
will be initialized to 0.
(18)@?DI <general-purpose input or memory input number>
Reads the status of a general-purpose input or memory input.
Input number
Transmission example
Response example 1
Response example 2
(19)@?DO <general-purpose output or memory output number>
Reads the status of a general-purpose output or memory output.
Output number
Transmission example
Response example 1
Response example 2
11-5 Communication Command Description
: @?PVA c/r l/f
: 0 c/r l/f
OK c/r l/f
: Specify one of the general-purpose inputs 0 to 7 (8 points) or one
of the memory inputs 100 to 147 (48 points).
: @?DI 1 c/r l/f
: 0 c/r l/f .......................................... Input status is off.
OK c/r l/f
: 1 c/r l/f .......................................... Input status is on.
OK c/r l/f
: Specify one of the general-purpose outputs 0 to 4 (5 points) or
one of the memory outputs 100 to 131 (32 points).
: @?DO 2 c/r l/f
: 0 c/r l/f .......................................... Output status is off.
OK c/r l/f
: 1 c/r l/f .......................................... Output status is on.
OK c/r l/f
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