Yamaha ERCX Series User Manual page 199

(2)@RESET
This returns the program execution step to the first step of the program selected with the '@SWI'
statement, and turns all general-purpose outputs (DO0 to DO12) and memory output off. The
"current position in the program" used as a reference for the relative movement command (MOVI)
is initialized to the current position of the robot, and the point variable P is also cleared to 0.
Transmission example
Response example 1
Response example 2
* When PRM33 ("operation at return-to-origin complete" parameter) is set to 1 or 3, DO4 does
not turn off even if the @RESET command is executed. Likewise, when PRM46 (servo status
output parameter) is set to 1, DO7 does not turn off even if the @RESET command is executed.
(3)@RUN
This executes a program all the way to the last step.
In the case of a multi-task program, all tasks are executed.
Transmission example
Response example 1
Response example 2
c
CAUTION
When using an endless program (program that unconditionally returns to the head of the program at the last
step), there will be no response.
(4)@SRUN
This executes only one step of a program.
In the case of a multi-task program, the selected task is executed.
Transmission example
Response example 1
Response example 2
Response example 3
11-5 Communication Command Description
: @RESET c/r l/f
: OK c/r l/f
: NG c/r l/f ...................................... The robot is running.
31: running c/r l/f
: @RUN c/r l/f
: STOP c/r l/f .................................. The last step of the program
60: program end c/r l/f
: NG c/r l/f ...................................... Return-to-origin has not been
32: origin incomplete c/r l/f
: @SRUN c/r l/f
: OK c/r l/f
: STOP c/r l/f .................................. The last step of the program
60: program end c/r l/f
: NG c/r l/f ...................................... Return-to-origin has not been
32: origin incomplete c/r l/f
Execute the command again
after stopping the robot.
has been executed.
performed. Execute the
command again after perform-
ing return-to-origin
has been executed.
performed. Execute the
command again after perform-
ing return-to-origin.
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