Yamaha SRCP User Manual page 207

Single-axis robot controller
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(5)@SDEL <program number>,<step number>
Deletes a specified step.
Program number
Step number
Transmission example
Response example 1
Response example 2
(6)@SMOD <program number>,<step number>
Modifies data in a specified step. The SRCP controller will transmit READY when this command
is received. Confirm that READY is received and then transmit the modification data.
Program number
Step number
Transmission example 1 : Send
Transmission example 2 : Send
(7)@COPY <program number (copy source)>,<program number (copy destination)>
Copies a program. If a program exists in the copy destination, the program will be rewritten.
Program number
Transmission example
Response example 1
Response example 2
11-5 Communication Command Description
: This is a number used to identify each program and can be from 0
to 99.
: This is a number used to identify each step and can be from 1 to
255.
: @SDEL 31,99 c/r l/f .................... Deletes step 99 of program
: OK c/r l/f
: NG c/r l/f ...................................... The specified step number is
42: cannot find step
c/r l/f
: This is a number used to identify each program and can be from 0
to 99.
: This is a number used to identify each step and can be from 1 to
255.
@SMOD 0,5 c/r l/f
TIMR 50 c/r l/f
@SMOD 0,5 c/r l/f
: This is a number used to identify each program and can be from 0
to 99.
: @COPY 0,1 c/r l/f ........................ Copies program No. 0 to
: OK c/r l/f
: NG c/r l/f ...................................... The program to be copied is
43: cannot find PGM c/r l/f
No. 31.
not registered.
Receive
READY c/r l/f
OK c/r l/f
Receive
NG c/r l/f
43: cannot find PGM c/r l/f
program No. 1.
not registered.
31
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