11-5 Communication Command Description

(11)@MOVF <point number>,<DI number>,<DI status>

This command moves the robot toward a position specified by a point number until a specified DI input condition is met. When the DI condition is met, the robot stops and the command termi- nates. Even if the DI condition is not met, the command terminates when the target point is reached.

Point number

: This is a number assigned to each point (position data) and can

 

be from 0 to 999 (a total of 1,000 points). Data for the point

 

numbers can be edited with the @WRITE PNT statement. The

 

point variable "P" can also be used.

DI number

: Specify one of the general-purpose inputs DI0 to DI7.

DI status

: Specify 1 (ON) or 0 (OFF) as the input condition.

Transmission example

: @MOVF 2,10,l c/r l/f ................... Moves to point 2 until DI10

 

becomes 1 (ON).

Response example

: OK c/r l/f

c CAUTION

The movement speed is set with PRM9 (MOVF speed) and independent of the PRM30 setting (Maximum program speed).

(12)@DO <general-purpose output or memory output number>,<output status>

Turns a general-purpose output or memory output on or off.

11

COMMUNICATION WITH PC

11-12

Output number

: Specify one of the general-purpose outputs from 0 to 4 (5 points)

 

or one of the memory outputs from 100 to 131 (32 points).

Output status

: Specify 1 (ON) or 0 (OFF).

 

Transmission example

: @DO 3,1 c/r l/f

Turns on general-purpose

 

 

output 3.

Response example

: OK c/r l/f

 

(13)@WAIT <general-purpose input or memory input number>,<input status>

Waits until a specified general-purpose input or memory input is switched to a specified status.

Input number

: Specify one of the general-purpose inputs from 0 to 7 (8 points)

 

or one of the memory inputs from 100 to 147 (48 points).

Input status

: Specify 1 (ON) or 0 (OFF).

 

Transmission example

: @WAIT l,l c/r l/f

Waits until DI1 becomes 1

 

 

(ON).

Response example

: OK c/r l/f

 

(14)@TIMR <time>

Waits a specified amount of time.

Time

: Set the time between 1 and 65535 in units of 10ms.

Transmission example

: @TIMR 100 c/r l/f

Waits one second.

Response example

: OK c/r l/f

 

Page 188
Image 188
Yamaha SRCP manual 11@MOVF point number,DI number,DI status, 14@TIMR time