Inching Movement (Inch+, Inch - Yamaha TS-S User Manual

Inching movement (INCH+, INCH-)
@INCH+[.<node number>] c/r l/f
Format
@INCH-[.<node number>] c/r l/f
Meaning Performs the inching movement in the + or - direction.
Function
Performs the inching movement of the robot in a specified direction (+/-).
n
NOTE
• The inching width (amount) is set using "Inching width (K11)" of the RUN parameter.
(See also Chapter 3, section 4.2 "Parameter details" of the Controller Guide.)
• The inching movement using the communication command does not relate to the manual mode status.
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
@INCH-.1 c/r l/f
Response
Inching movement in the - direction.
RUN.1 c/r l/f Starts the inching movement.
END.1 c/r l/f Normal end
B
B-7