Communication Command Description; Robot Operation Commands; Positioning Operation (Start; Operation Stop (Stop - Yamaha TS-S User Manual

3. Communication command description
3.1 Robot operation commands
The robot operation commands are intended to operate or stop the robot.
Positioning operation (START)
@START<point number>[.<node number>] c/r l/f
Format
@START<point number>[#P<position data>][.<node number>] c/r l/f
Meaning Starts the positioning operation of specified point data.
Function
This command has the same function as the start (START) input.
When #P<position data> is added to a portion immediately after the position number, the operation can be performed by
registering the position data into the point data again.
This is called direct position designation positioning operation.
The unit of the position data is the same as that used for the point data writing. For details, refer to section 3.3 "Edit
commands" in this Communication Command Guide.
n
NOTE
The direct position designation positioning operation is available from controller's software version Ver.1.11.125.
Setting
<Point number> : 1 to 255
<Node number> : 1 to 16 (This setting can be omitted when the same command is sent to all the controllers connected
with the host device, as by daisy chain connection.)
Communication example
Transmission
@START1.1 c/r l/f
@START2.1 c/r l/f
@START1#P10000.1 c/r
Operation stop (STOP)
Format @STOP[.<node number>] c/r l/f
Meaning Stops the operation.
Function
Stops the operation/movement of the robot.
When the operation/movement is stopped by this command, the robot decelerates, and then stops.
Setting
<Node number> : 1 to 16 (This setting can be omitted when the same command is sent to all the controllers connected
with the host device, as by daisy chain connection.)
Communication example
Transmission
@START1.1 c/r l/f
@STOP.1 c/r l/f
Response
Positioning operation of point data 1
RUN.1 c/r l/f Starts the positioning operation.
END.1 c/r l/f Normal end
Positioning operation of point data 2
RUN.1 c/r l/f Accepts the positioning operation and starts it.
NG.1=44 c/r l/f Abnormal end
(Operation is stopped by alarm "44: SOFTLIMIT OVER".)
Operates by registering "position = 100.00mm" into the point data 1.
RUN.1 c/r l/f Starts the positioning operation.
END.1 c/r l/f Normal end
Response
Positioning operation of point data 1
RUN.1 c/r l/f Starts the positioning operation.
Stop
NG.1=46 c/r l/f Abnormal end
(Operation is stopped by alarm "46: STOP KEY".)
B
B-5