Yamaha DRCX User Manual page 260

2-axis robot controller
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(27)@?DI <general-purpose input or memory input number>
Reads the status of a general-purpose input or memory input.
Input number
Transmission example
Response example 1
Response example 2
(28)@?DO <general-purpose output or memory output number>
Reads the status of a general-purpose output or memory output.
Output number
Transmission example
Response example 1
Response example 2
(29-1) @?PRM <parameter number>
Reads the data from a specified parameter.
Parameter number
Transmission example
Response example 1
Response example 2
(29-2) @?PRM <parameter number>,<parameter number>
Reads multiple parameter data from the first parameter number to the second parameter number.
If unregistered parameters exist, they will be skipped.
Parameter number
Transmission example
Response example
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11-5 Communication Command Description
: Specify one of the general-purpose inputs 0 to 15 (16 points) or
one of the memory inputs 100 to 147 (48 points).
: @?DI 1 c/r l/f
: 0 c/r l/f .......................................... Input status is off.
OK c/r l/f
: 1 c/r l/f .......................................... Input status is on.
OK c/r l/f
: Specify one of the general-purpose outputs 0 to 12 (13 points) or
one of the memory outputs 100 to 131 (32 points).
: @?DO 2 c/r l/f
: 0 c/r l/f .......................................... Output status is off.
OK c/r l/f
: 1 c/r l/f .......................................... Output status is on.
OK c/r l/f
: This is a number used to identify each parameter and can be from
0 to 127.
: @?PRM48 c/r l/f .......................... Reads the data from PRM48
: 350 c/r l/f
OK c/r l/f
: c/r l/f ............................................. No data is registered in PRM1
OK c/r l/f
: This is a number used to identify each parameter and can be from
0 to 127.
: @?PRM48,52 c/r l/f ..................... Reads the data from PRM48 to
: PRM48=100 c/r l/f
PRM49=3 c/r l/f
PRM50=10 c/r l/f
PRM51=100 c/r l/f
PRM52=1 c/r l/f
OK c/r l/f
(parameter 48).
(parameter 48).
PRM52 (parameters 48 to 52).
27
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