Communication Command Description; Robot Operation Commands; Positioning Operation (Start; Operation Stop (Stop - Yamaha TS-P 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
Starts the positioning operation of specified point data.
Meaning
Function
This command has the same function as the start (START) input.
Setting
<Point number> : 1 to 255
<Node number> : 1 to 16 (This setting can be omitted when the same command
Communication example
Transmission
@START1.1 c/r l/f
@START2.1 c/r l/f

Operation stop (STOP)

@STOP[.<node number>] c/r l/f
Format
Stops the operation.
Meaning
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
Communication example
Transmission
@START1.1 c/r l/f
@STOP.1 c/r l/f
3. Communication command description
is sent to all the controllers connected with the host device,
as by daisy chain connection.)
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".)
is sent to all the controllers connected with the host device,
as by daisy chain connection.)
Response
Positioning operation of point data 1
RUN.1 c/r l/f Starts the positioning operation.
Stop
Abnormal end
NG.1=46 c/r l/f
(Operation is stopped by alarm
Communication Command Guide
" "
46: STOP KEY .)
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