Query Commands; Point Data Reading (?M, ?P, ?S, ?Ac, ?Dc, ?Q, ?Zl, ?Zh, ?N, ?J, ?F, ?T - Yamaha TS-P User Manual

3. Communication command description

3.4 Query commands

1
The query commands are intended to read the data or robot status.

Point data reading (?M, ?P, ?S, ?AC, ?DC, ?Q, ?ZL, ?ZH, ?N, ?J, ?F, ?T)

2
Format
3
Meaning
Function
Reads the individual data of a specified point.
The command may vary depending on the type of individual data. For details,
see the table below.
Command and data type
■
Command
The individual data of the point data related to the position or speed may include the decimal
point due to the specifications. However, when handling such data using the communication
command, all of data are handled as integer values. For example, when the position data is
NOTE
20.000[mm], the communication command handles this value as 20000[10
including the decimal point.
Setting
<Point number> : 1 to 255
<Node number> : 1 to 16 (This setting can be omitted when the same command
C-14
Communication Command Guide
@?M<point number>[.<node number>] c/r l/f
@?P<point number>[.<node number>] c/r l/f
@?S<point number>[.<node number>] c/r l/f
@?AC<point number>[.<node number>] c/r l/f
@?DC<point number>[.<node number>] c/r l/f
@?Q<point number>[.<node number>] c/r l/f
@?ZL<point number>[.<node number>] c/r l/f
@?ZH<point number>[.<node number>] c/r l/f
@?N<point number>[.<node number>] c/r l/f
@?J<point number>[.<node number>] c/r l/f
@?F<point number>[.<node number>] c/r l/f
@?T<point number>[.<node number>] c/r l/f
Reads the individual data of a specified point.
Type
?M Operation type
?P Position
?S Speed
?AC Acceleration
?DC Deceleration
?Q Push
?ZL Zone (-)
?ZH Zone (+)
?N Near width
?J Jump
?F Flag
?T Timer
is sent to all the controllers connected with the host device,
as by daisy chain connection.)
Unit
Standard Setting
-
0.001mm
%
%
%
%
0.001mm
0.001mm
0.001mm
-
-
ms
Custom Setting
0.01mm/s
2
0.01m/s
-3
mm] not