Yamaha DRCX User Manual page 257

11-5 Communication Command Description
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(14)@?EMG
Reads the emergency stop status.
Transmission example
Response example 1
Response example 2
(15)@?SRVO [<axis>]
Reads the servo state of all axes or a specified axis.
When all axes are specified, the response results in "1" only when the servo of all axes has been
on.
Axis
Transmission example
Response example 1
Response example 2
(16)@?ORG [<axis>]
Reads whether or not return-to-origin has been completed on all axes or specified axis.
When all axes are specified, the response results in "1" only when return-to-origin has been
completed on all axes.
Axis
Transmission example
Response example 1
Response example 2
(17)@?XGRDP
Reads the X-axis grid position (machine reference when return-to-origin is completed).
Transmission example
Response example
c
CAUTION
The response value will be meaningless if return-to-origin is not completed. Always transmit the command after
return-to-origin has been completed.
: @?EMG c/r l/f
: 0 c/r l/f .......................................... Emergency stop is off.
OK c/r l/f
: 1 c/r l/f .......................................... Emergency stop is on.
OK c/r l/f
: "0" for all axes, "1" for the X-axis, and "2" for the Y-axis.
If this setting is omitted, all axes are selected.
: @?SRVO c/r l/f
: 0 c/r l/f .......................................... Servo is off.
OK c/r l/f
: 1 c/r l/f .......................................... Servo is on.
OK c/r l/f
: "0" for all axes, "1" for the X-axis, and "2" for the Y-axis.
If this setting is omitted, all axes are selected.
: @?ORG c/r l/f
: 0 c/r l/f .......................................... Return-to-origin not com-
OK c/r l/f
: 1 c/r l/f .......................................... Return-to-origin completed.
OK c/r l/f
: @?XGRDP c/r 1/f
: 50% c/r 1/f
OK c/r l/f
pleted.