Yamaha SRCP manual Communication Command Specifications

11-3 Communication Command Specifications

11

COMMUNICATION WITH PC

11-3 Communication Command Specifications

On the SRCP controller, a command interface resembling the BASIC programming language is pro- vided as standard, to facilitate easy communication with a PC. Communication commands are di- vided into the following four categories:

1.Robot movements

2.Data handling

3.Utilities

4.Special codes

Format: (except for special codes)

@<operation code> [<operand 1>][,<operand 2>][,<operand 3>]c/r l/f

■Basically, all of the commands begin with the start code '@' (=40H) and end with the code c/r (=0DH) l/f (=0AH). These two codes signal the controller that the statements between them constitute one command line. (The special codes are the only ones that do not require a start or an end code.)

■A communication command is basically composed of an operation code and an operand. De- pending on the command statement, either no operand is used, or up to three operands are used.

Items in [ ] (brackets) can be omitted.

■The character codes used in the SRCP series, are the JIS8 unit system codes (ASCII codes with katakana characters added). Input characters can be upper case or lower case.

■One or more space must be inserted between the operation code and the operand.

■Items with the < > marks should be specified by the user. Check the description of each communication command and enter the appropriate data. (Refer to "11-5 Communication Command Description".)

■When two or more operands are entered, insert a comma (,) between them.

An example is shown below.

Transmission example

@ M O V I 1 2 3 , 1 0 0 c / r l / f

Start code				Operand 2
Opcode (Operation code)			Comma
	Space	Operand 1

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