11-4 Communication Command List

11

COMMUNICATION WITH PC

2. Data handling

No.

Operation code

Operand 1

Operand 2

Operand 3

Command details

 

 

 

 

 

 

1.

?POS

 

 

 

Reads current position

2.

?NO

 

 

 

Reads current program number

3.

?SNO

 

 

 

Reads current step number

4.

?TNO

 

 

 

Reads current task number

5.

?PNO

 

 

 

Reads current point number

6.

?STP

program number

 

 

Reads total number of steps in specified

 

 

 

 

 

program

7.

?MEM

 

 

 

Reads number of steps that can be added

8.

?VER

 

 

 

Reads ROM version number

9.

?ROBOT

 

 

 

Reads robot number

10.

?CLOCK

 

 

 

Reads total operation time of controller

11.

?ALM

history number

[display count]

 

Reads alarm history

12.

?ERR

history number

[display count]

 

Reads error history

13.

?EMG

 

 

 

Confirms emergency stop status

14.

?SRVO

 

 

 

Confirms servo status

15.

?ORG

 

 

 

Confirms return-to-origin status

16.

?MODE

 

 

 

Confirms operation mode

17.

?PVA

 

 

 

Reads current point variable P

18.

?DI

input number

 

 

Reads general-purpose input or memory

 

 

 

 

 

input status

19.

?DO

output number

 

 

Reads general-purpose output or memory

 

 

 

 

 

output status

20.

?PRM

parameter number

 

 

Reads specified parameter data

 

 

parameter number

parameter number

 

Reads specified multiple parameter data

21.

?P

point number

 

 

Reads specified point data

 

 

point number

point number

 

Reads specified multiple point data

22.

READ

program number

step number

number of steps

Reads specified program data

 

 

PGM

 

 

Reads all program data

 

 

PNT

 

 

Reads all point data

 

 

PRM

 

 

Reads all parameter data

 

 

ALL

 

 

Batch reads all program, point and

 

 

 

 

 

parameter data

 

 

DIO

 

 

Reads input/output information

 

 

 

 

 

 

 

MIO

 

 

Reads memory input/output information

 

 

 

 

 

 

 

INF

 

 

Reads registered program information

 

 

 

 

 

23.

WRITE

PGM

 

 

Writes program data

 

 

 

 

 

PNT

 

 

Writes point data

 

 

 

 

 

 

 

PRM

 

 

Writes parameter data

 

 

 

 

 

 

 

ALL

 

 

Batch writes program, point and

 

 

 

 

parameter data

 

 

 

 

 

24.

?MAT

pallet number

 

 

Reads matrix definition contents

25.

?MSEL

 

 

 

Reads currently specified matrix number

26.

?CSEL

 

 

 

Reads currently specified element

 

 

 

 

 

number of counter array variable C.

27.

?C

[array element

 

 

Reads current counter array variable C

 

 

number]

 

 

 

28.

?D

 

 

 

Reads current counter variable D

29.

?SHFT

 

 

 

Reads current shift data

11-6

Page 182
Image 182
Yamaha SRCP manual 11-6