Yamaha DRCX User Manual page 256

(10)@?VER
Reads the ROM version in the DRCX controller.
Transmission example
Response example
(11)@?ROBOT
Reads the type of the robot currently specified.
Transmission example
Response example 1
Response example 2
(12)@?CLOCK
Reads the total operation time of the DRCX controller.
Transmission example
Response example
(13) @?ALM <history number>[,<display count>]
Displays a specified number of past alarms, starting from a specified history number.
A maximum of 100 past alarms can be displayed.
This alarm history shows the time (total elapsed time from controller start-up) that each alarm
occurred and a description of the alarm.
History number
Display count
Transmission example
Response example
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11-5 Communication Command Description
: @?VER c/r l/f
: 18.11 c/r l/f
OK c/r l/f
: @?ROBOT c/r l/f
: SXYt c/r l/f ................................... In the case of dual-axis robot
OK c/r l/f
: 20/21 c/r l/f ................................... In the case of Multi-Flip
OK c/r l/f
: @?CLOCK c/r l/f
: 00101,05:11:12 c/r l/f ................... Indicates that the total opera-
OK c/r l/f
: This number is assigned to each alarm sequentially from 0 to 99
in the order the alarms occurred. History number 0 indicates the
most recent alarm that occurred. A larger history number indi-
cates it is an older alarm.
: Specify the number of alarms you want to display from 1 to 100.
If this entry is omitted, only one alarm is displayed.
: @?ALM 0,2 c/r l/f ........................ Displays the two most recent
: 00101,05:11:12,X04: POWER DOWN
00096,18:10:02,X04: POWER DOWN
OK c/r l/f ...................................... The most recent alarm that
setting, the robot name is
displayed.
setting, the robot number of
each axis is displayed.
tion time is 101 days, 5 hours,
11 minutes and 12 seconds.
alarms that occurred.
c/r l/f
c/r l/f
occurred was a voltage drop
alarm occurring 101 days, 5
hours, 11 minutes and 12
seconds after the DRCX
controller has started. The next
most recent alarm was a
voltage drop alarm occurring
96 days, 18 hours, 10 minutes
and 2 seconds after the DRCX
controller has started.
23
11-
11