Yamaha ERCX Series User Manual page 211

Single-axis robot controller
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(18)@?DO <general-purpose output or memory output number>
Reads the status of a general-purpose output or memory output.
Output number
Transmission example
Response example 1
Response example 2
(19-1) @?PRM <parameter number>
Reads the data from a specified parameter.
Parameter number
Transmission example
Response example 1
Response example 2
(19-2) @?PRM <parameter number>,<parameter number>
Reads multiple parameter data from the first parameter number to the second parameter number.
If unregistered parameters exist, they will be skipped.
Parameter number
Transmission example
Response example
11-5 Communication Command Description
: Specify one of the general-purpose outputs 0 to 12 (13 points) or
one of the memory outputs 100 to 131 (32 points).
: @?DO 2 c/r l/f
: 0 c/r l/f .......................................... Output status is off.
OK c/r l/f
: 1 c/r l/f .......................................... Output status is on.
OK c/r l/f
: This is a number used to identify each parameter and can be from
0 to 63.
: @?PRMl c/r l/f ............................. Reads the data from PRM1
: 350 c/r l/f
OK c/r l/f
: c/r l/f ............................................. No data is registered in PRM1
OK c/r l/f
: This is a number used to identify each parameter and can be from
0 to 63.
: @?PRMl,5 c/r l/f .......................... Reads the data from PRM1 to
: PRM1=350 c/r l/f
PRM2=0 c/r l/f
PRM3=30 c/r l/f
PRM4=100 c/r l/f
PRM5=0 c/r l/f
OK c/r l/f
(parameter 1).
(parameter 1).
PRM5 (parameters 1 to 5).
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