Yamaha DRCX User Manual page 248

(18)@ACHA <axis>, <position>
Defines an arch motion by setting a position.
Axis
Position
Transmission example
Response example
(19)@ACHI <axis>, <distance>
Defines an arch motion by setting a distance.
Axis
Distance
Transmission example
Response example
c
CAUTION
When movement is interrupted with a stop (^C) statement, the current position in the program stays unchanged
so that the movement can be resumed by re-executing the movement command. However, if the command is
reset, the current position in the program is initialized to the robot position.
(20)@DO <general-purpose output or memory output number>,<output status>
Turns a general-purpose output or memory output on or off.
Output number
Output status
Transmission example
Response example
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11-5 Communication Command Description
: Specify the axis that performs an arch motion. "1" for the X-axis
and "2" for the Y-axis.
: This is the position (absolute position with respect to the origin)
the arch motion axis moves to. The setting range is from -9999 to
9999 mm.
: @ACHA 2, 10 c/r l/f .................... Defines an arch motion in
: OK c/r l/f
: Specify the axis that performs an arch motion. "1" for the X-axis
and "2" for the Y-axis.
: This is the distance (relative distance with respect to the current
position) the arch motion axis moves. The setting range is from -
9999 to 9999 mm.
: @ACHI 2, -100 c/r l/f .................. Defines an arch motion in
: OK c/r l/f
: Specify one of the general-purpose outputs from 0 to 12 (13
points) or one of the memory outputs from 100 to 131 (32
points).
: Specify 1 (ON) or 0 (OFF).
: @DO 3,1 c/r l/f ............................. Turns on general-purpose
: OK c/r l/f
which the Y-axis temporarily
returns to Y=10.00.
which the Y-axis temporarily
returns a distance of -100.00.
output 3.
15
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