Yamaha ERCX Series User Manual page 200

11-5 Communication Command Description
11
10
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(5)@SRVO <servo status>
Turns the servo on or off.
Servo status
Transmission example
Response example
(6)@X+, (@X-)
@X+ moves the robot to the + side and @X- to the - side based on the following equation.
Movement distance = 1 × (PRM26/100) (mm)
c
CAUTION
If the robot uses a rotary axis, then movement distance is expressed in deg. (degrees).
(7)@XINC, (@XDEC)
@XINC moves the robot to the + side and @XDEC to the - side at a speed calculated by the
equation below. The robot continues moving until the ^C code is input or the robot reaches the
soft limit.
Movement speed = 100 × (PRM26/100) (mm/sec.)
c
CAUTION
If the robot uses a rotary axis, the movement distance is expressed in deg/sec.
c
CAUTION
The soft limit will not work unless return-to-origin has been performed.
(8)@MOVD <X-axis position (mm)>,<speed>
Moves the robot to a specified coordinate position.
X-axis position
Speed
Transmission example
Response example 1
Response example 2
: Specify 1 to turn the servo on or 0 to turn it off.
: @SRVO 0 c/r l/f ........................... Turns the servo off.
: OK c/r l/f
PRM26: Teaching movement data (%)
: Directly specify the target position to move the robot to. If the
robot uses a rotary axis, the coordinate position is expressed in
deg. (degrees).
: The speed can be set to any level between 1 and 100. If PRM30
(Maximum program speed) is 100, then 100 will be equal to 3000
rpm (when PRM44=3000).
: @MOVD 50.37,100 c/r l/f ........... Moves the robot to the posi-
: OK c/r l/f
: NG c/r l/f ...................................... The target position exceeds the
30: soft limit over c/r l/f
PRM26: Teaching movement data (%)
tion at 50.37 mm, at 100%
speed.
soft limit. Change the target
position or soft limit param-
eter.