Yamaha ERCX Series User Manual page 204

11-5 Communication Command Description
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14
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(18)@MOVM <pallet work position>,<speed>
Moves the robot to a specified pallet work position at a specified speed.
This command is available with controller version 13.23 or later.
Pallet work position
Speed
Transmission example
Response example 1
Response example 2
c
CAUTION
• The MOVM statement performs calculation on the assumption that the robot operates on the Cartesian
coordinate system.
• Because only a single-axis robot is controlled with the ERCX, the actual movement is linear even if a 2-
dimensional matrix is defined.
(19)@MAT <number of rows>,<number of columns>,<pallet number>
Defines a matrix.
This command is available with controller version 13.23 or later.
Number of rows
Number of columns
Pallet number
Transmission example
Response example
c
CAUTION
Because only a single-axis robot is controlled with the ERCX, the actual movement is linear even if a 2-
dimensional matrix is defined.
(20)@MSEL <pallet number>
Specifies a matrix where the robot moves with a MOVM statement.
This command is available with controller version 13.23 or later.
Pallet number
Transmission example
Response example
: The pallet work position is a number used to identify each point
on a matrix, and can be from 1 to 65025 (=255 × 255). The
counter array variable C or counter variable D can also be used.
: The speed can be set to any level between 1 and 100. If PRM30
(Maximum program speed) is 100, then 100 will be equal to 3000
rpm (when PRM44=3000).
: @MOVM 5,100 c/r l/f .................. When a 4 × 3 matrix is
: OK c/r l/f
: NG c/r l/f ...................................... Data error. The specified pallet
23: data error c/r l/f
: Set the number of rows from 1 to 255.
: Set the number of columns from 1 to 255.
: The pallet number is a number used to identify each matrix
(pallet) and can be from 0 to 31.
: @MAT 5,2,1 c/r l/f ....................... Defines a matrix of 5 × 2 on
: OK c/r l/f
: The pallet number is a number used to identify each matrix
(pallet) and can be from 0 to 31.
: @MSEL 0 c/r l/f ........................... Specifies pallet number 0.
: OK c/r l/f
defined, the robot moves to the
point at "row 2, column 2" at
100% speed.
work position is outside the
matrix.
pallet number 1.