Yamaha ERCX Series User Manual page 210

11-5 Communication Command Description
11
20
11-
(14)@?ORG
Reads whether or not return-to-origin has been completed.
Transmission example
Response example 1
Response example 2
(15)@?MODE
Reads the robot status.
Transmission example
Response example 1
Response example 2
Response example 3
(16)@?PVA
Reads the point variable P. In multi-task operation, this command reads the program information
on the task currently selected.
Transmission example
Response example
c
CAUTION
The contents of the point variable P are held even when the ERCX is turned off. However, when the program is
reset or when the program reset is applied for example by switching the execution program, the point variable P
will be initialized to 0.
(17)@?DI <general-purpose input or memory input number>
Reads the status of a general-purpose input or memory input.
Input number
Transmission example
Response example 1
Response example 2
: @?ORG c/r l/f
: 0 c/r l/f .......................................... Return-to-origin not com-
OK c/r l/f
: 1 c/r l/f .......................................... Return-to-origin completed.
OK c/r l/f
: @?MODE c/r l/f
: 0 c/r l/f .......................................... Robot is stopped.
OK c/r l/f
: 1 c/r l/f .......................................... Program is being executed
OK c/r l/f
: 2 c/r l/f .......................................... Program is being executed by
: @?PVA c/r l/f
: 0 c/r l/f
OK c/r l/f
: Specify one of the general-purpose inputs 0 to 15 (16 points) or
one of the memory inputs 100 to 147 (48 points).
: @?DI 1 c/r l/f
: 0 c/r l/f .......................................... Input status is off.
OK c/r l/f
: 1 c/r l/f .......................................... Input status is on.
OK c/r l/f
pleted.
from TPB or PC.
I/O command.