Yamaha SRCP User Manual page 199

Single-axis robot controller
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(21-2) @?P <point number>,<point number>
Reads multiple point data from the first point number to the second point number. If unregistered
points exist, they will be skipped.
Point number
Transmission example
Response example
(22-1) @READ <program number>,<step number>,<number of steps>
Reads a specified number of step data from a specified step in a program. If the number of steps
from the specified step to the final step is less than the number of steps specified here, the com-
mand execution will end when the final step is read out.
Program number
Step number
Number of steps
Transmission example
Response example 1
Response example 2
(22-2) @READ PGM
Reads all of the program data.
Transmission example
Response example
11-5 Communication Command Description
: This is a number used to identify each point data and can be from
0 to 999.
: @?P15,22 c/r l/f ........................... Reads the data from points 15
: P15=100.00 c/r l/f
P16=32.11 c/r l/f
P20=220.00 c/r l/f
P22=0.50 c/r l/f
OK c/r l/f
: This is a number used to identify each program and can be from 0
to 99.
: This is a number assigned to each step and can be from 1 to 255.
: Any number between 1 and 255 can be specified.
: @READ 3,50,1 c/r l/f .................. Reads one step of data from
: MOVA 29,100 c/r l/f
^Z(=1AH)
OK c/r l/f
: NG c/r l/f ...................................... The specified step number is
42: cannot find step
c/r l/f
: @READ PGM c/r l/f
: NO0 c/r l/f
MOVA 0,100 c/r l/f
JMPF 0,31,13 c/r l/f
NO31 c/r l/f
STOP c/r l/f
^Z (=1AH)
OK c/r l/f
to 22.
step 50 in program No. 3.
not registered
23
11-
11

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