Yamaha SRCP manual @Run, @Srun, @SRVO servo status, Servo status

11-5 Communication Command Description

(2)@RESET

This returns the program execution step to the first step of the program selected with the '@SWI' statement, and turns all general-purpose outputs (DO0 to DO4) and memory output off. The "cur- rent position in the program" used as a reference for the relative movement command (MOVI) is initialized to the current position of the robot, and the point variable P is also cleared to 0.

Transmission example	: @RESET c/r l/f
Response example 1	: OK c/r l/f
Response example 2	: NG c/r l/f		The robot is running.
	31: running	c/r l/f	Execute the command again
			after stopping the robot.

*When PRM33 ("operation at return-to-origin complete" parameter) is set to 1 or 3, DO4 does not turn off even if the @RESET command is executed. Likewise, when PRM46 (servo status output parameter) is set to 1, DO3 does not turn off even if the @RESET command is executed.

(3)@RUN

This executes a program all the way to the last step.

In the case of a multi-task program, all tasks are executed.

Transmission example	: @RUN c/r l/f
Response example 1	: STOP c/r l/f		The last step of the program
	60: program end	c/r l/f	has been executed.
Response example 2	: NG c/r l/f		Return-to-origin has not been
	32: origin incomplete c/r l/f		performed. Execute the
			command again after perform-
			ing return-to-origin

c CAUTION

When using an endless program (program that unconditionally returns to the head of the program at the last step), there will be no response.

(4)@SRUN

This executes only one step of a program.

In the case of a multi-task program, the selected task is executed.

Transmission example	: @SRUN c/r l/f
Response example 1	: OK c/r l/f
Response example 2	: STOP c/r l/f		The last step of the program
	60: program end	c/r l/f	has been executed.
Response example 3	: NG c/r l/f		Return-to-origin has not been
	32: origin incomplete c/r l/f		performed. Execute the
			command again after perform-
			ing return-to-origin.
(5)@SRVO <servo status>
Turns the servo on or off.
Servo status	: Specify 1 to turn the servo on or 0 to turn it off.
Transmission example	: @SRVO 0 c/r l/f		Turns the servo off.
Response example	: OK c/r l/f		11-9

11

COMMUNICATION WITH

PC