Communication Command List - Yamaha ERCX Series User Manual

11-4 Communication Command List

1. Robot movement
No. Operation code Operand 1
1. ORG
ORGN
2. RESET
3. RUN
4. SRUN
5. SRVO 0
1
6. X+/X-
7. XINC/
XDEC
8. MOVD X-axis position (mm)
9. MOVA point number
MOVI
10. point number
11. MOVF point number
12. DO output number
13. WAIT input number
14. TIMR time
15. P point number
16. P+
17. P-
18. MOVM pallet work position
19. MAT number of rows
20. MSEL pallet number
21. CSEL array element
number
22. C counter value
23. C+ [addition value]
24. C- [subtraction value]
25. D counter value
26. D+ [addition value]
27. D- [subtraction value]
28. SHFT point number
11-4 Communication Command List
Operand 2 Operand 3
Returns to origin
Resets program
Starts automatic operation
Starts step operation
Turns servo off
Turns servo on
Performs jog movement (inching) along X-axis
Performs jog movement along X-axis
speed Directly moves to specified position
speed Moves to specified position
speed Moves specified movement amount
DI number 0 or 1 Moves in response to general-purpose input
0 Turns off general-purpose output or
memory output
1 Turns on general-purpose output or
memory output
0 or 1 Waits general-purpose input or memory input
Waits for specified time
Defines point variable P
Adds 1 to point variable P
Subtracts 1 from point variable P
speed Moves to specified pallet work position
number of columns pallet number Defines matrix on specified pallet
Specifies pallet number where to move
Specifies array element of counter array
variable C
Defines counter array variable C
Adds specified value to counter array variable C
Subtracts specified value from counter
array variable C
Defines counter variable D
Adds specified value to counter variable D
Subtracts specified value from counter
variable D
Performs point data shift
Command details
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5
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