Yamaha TS-S User Manual page 231

Communication Command Guide
Introduction
1. Communication specifications
1.1 Communication parameter specifications
1.2 Communication command specifications
2. Communication command lists
3. Communication command description
3.1 Robot operation commands
Positioning operation (START)
Operation stop (STOP)
Return-to-origin (ORG)
JOG movement (JOG+, JOG-)
Inching movement (INCH+, INCH-)
3.2 Status change commands
Servo status change (SRVO)
Brake status change (BRK)
Reset (RESET)
3.3 Edit commands
Point data writing 1 (M, P, S, AC, DC, Q, ZL, ZH, N, J, F, T)
Point data writing 2 (P_, S_, AC_, DC_, Q_)
Current position teaching (TEACH)
Point data copying (COPY)
Point data deleting (DEL)
Parameter data writing (K)
Automatic node number setting (SETID)
3.4 query commands
Point data reading (?M, ?P, ?S, ?AC, ?DC, ?Q, ?ZL, ?ZH, ?N, ?J, ?F, ?T)
Parameter data reading (?K)
Status data reading (?D)
Input/output information reading (?IN, ?INB, ?OUT, ?OUTB)
Word input/output information reading (?WIN, ?WOUT)
Option information reading (?OPT, ?OPTB)
Alarm/warning information reading (?ALM, ?WARN)
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