Yamaha SRCP manual Communication Command List, Robot movement

11-4 Communication Command List

11-4 Communication Command List

1. Robot movement

No.	Operation code	Operand 1	Operand 2	Operand 3	Command details
1.	ORG				Returns to origin
	ORGN
2.	RESET				Resets program
3.	RUN				Starts automatic operation
4.	SRUN				Starts step operation
5.	SRVO	0			Turns servo off
		1			Turns servo on
6.	X+/X-				Performs jog movement (inching) along X-axis
7.	XINC/				Performs jog movement along X-axis
	XDEC
8.	MOVD	X-axis position (mm)	speed		Directly moves to specified position
9.	MOVA	point number	speed		Moves to specified position
10.	MOVI	point number	speed		Moves specified movement amount
11.	MOVF	point number	DI number	0 or 1	Moves in response to general-purpose input
12.	DO	output number	0		Turns off general-purpose output or
					memory output
			1		Turns on general-purpose output or
					memory output
13.	WAIT	input number	0 or 1		Waits general-purpose input or memory input
14.	TIMR	time			Waits for specified time
15.	P	point number			Defines point variable P
16.	P+				Adds 1 to point variable P
17.	P-				Subtracts 1 from point variable P
18.	MOVM	pallet work position	speed		Moves to specified pallet work position
19.	MAT	number of rows	number of columns	pallet number	Defines matrix on specified pallet
20.	MSEL	pallet number			Specifies pallet number where to move
21.	CSEL	array element			Specifies array element of counter array
		number			variable C
22.	C	counter value			Defines counter array variable C
23.	C+	[addition value]			Adds specified value to counter array variable C
24.	C-	[subtraction value]			Subtracts specified value from counter
					array variable C
25.	D	counter value			Defines counter variable D
26.	D+	[addition value]			Adds specified value to counter variable D
27.	D-	[subtraction value]			Subtracts specified value from counter
					variable D
28.	SHFT	point number			Performs point data shift

11

COMMUNICATION WITH

PC

11-5