Yamaha SRCP manual @X+, @X, @Xinc, @Xdec, @MOVD X-axis position mm,speed, Axis position, Speed

11-5 Communication Command Description

(6)@X+, (@X-)

@X+ moves the robot to the + side and @X- to the - side based on the following equation.

Movement distance = 1 ⋅ (PRM26/100) (mm) PRM26: Teaching movement data (%)

(7)@XINC, (@XDEC)

@XINC moves the robot to the + side and @XDEC to the - side at a speed calculated by the equation below. The robot continues moving until the ^C code is input or the robot reaches the soft limit.

Movement speed = 100 ⋅ (PRM26/100) (mm/sec.) PRM26: Teaching movement data (%)

c CAUTION

The soft limit will not work unless return-to-origin has been performed.

(8)@MOVD <X-axis position (mm)>,<speed>

Moves the robot to a specified coordinate position.

X-axis position	: Specify the target position to move the robot to.
Speed	: The speed can be set to any level between 1 and 100. If PRM30
	(Maximum program speed) is 100, then 100 will be equal to 2000
	mm/sec (when PRM44=2000).

11

COMMUNICATION WITH PC

Transmission example	: @MOVD 50.37,100 c/r l/f		Moves the robot to the posi-
			tion at 50.37 mm, at 100%
			speed.
Response example 1	: OK c/r l/f
Response example 2	: NG c/r l/f		The target position exceeds the
	30: soft limit over	c/r l/f	soft limit. Change the target
			position or soft limit param-
			eter.

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