Yamaha DRCX User Manual page 264

(32-1) @WRITE PGM
Writes the program data. The controller will transmit READY when this command is received.
Confirm that READY is received and then transmit the program data. Always transmit ^Z (=1AH)
at the end of the data.
Transmission example
c
CAUTION
When @WRITE PGM is executed, the previous data of the same program number is overwritten. (The previous
data remains as long as its program number differs from the program number to be written.)
(32-2) @WRITE PNT
Writes the point data. The controller will transmit READY when this command is received. Con-
firm that READY is received and then transmit the point data. Always transmit ^Z (=1AH) at the
end of the data.
Transmission example
c
CAUTION
When @WRITE PNT is executed, the previous data of the same point number is overwritten. (The previous data
remains as long as its point number differs from the point number to be written.)
(32-3) @WRITE PRM
Writes the parameter data. The controller will transmit READY when this command is received.
Confirm that READY is received and then transmit the parameter data. Always transmit ^Z (=1AH)
at the end of the data.
Transmission example
c
CAUTION
Loading unsuitable robot data to the DRCX can inhibit the robot controller performance, possibly resulting in
failures, malfunctions, and errors.
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11-5 Communication Command Description
: Send
@WRITE PGM c/r l/f
NO0 c/r l/f
MOVA 0,100 c/r l/f
JMPF 0,31,12 c/r l/f
NO31 c/r l/f
STOP c/r l/f
^Z(=1AH)
: Send
@WRITE PNT c/r l/f
P0=0.00,0.00 c/r l/f
P1=350.00,100.00 c/r l/f
P254=-0.27,10.01 c/r l/f
^Z(=1AH)
: Send
@WRITE PRM c/r l/f
PRM48=550 c/r l/f
PRM49=10 c/r l/f
^Z(=1AH)
Receive
READY c/r l/f
OK c/r l/f
Receive
READY c/r l/f
OK c/r l/f
Receive
READY c/r l/f
OK c/r l/f
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