Yamaha DRCX User Manual page 240

3. Utility
No. Operation code
1. INIT
2. SWI
3. SWITSK
4. SINS
5. SDEL
6. SMOD
7. COPY
8. DEL
9. PDEL
4. Special codes
No. Code
1. ^C (=03H)
2. ^Z (=1AH)
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Operand 1 Operand 2
PGM
PNT
PRM dual-axis robot
type
CPRM
XPRM single-axis robot
type
YPRM single-axis robot
type
CLOCK
ALM
ERR
program number
task number
step number
program number
program number step number
program number step number
program number program number
(copy source) (copy destination)
program number
point number number of points
Command details
Interrupts RUN, SRUN, ORG, etc.
Ends data transmission
11-4 Communication Command List
Operand 3 Command details
Initializes program data
Initializes point data
Initializes dual-axis robot parameters
Initializes common parameters
Initializes X-axis robot parameters
Initializes Y-axis robot parameters
Initializes timer that measures total
operation time
Initializes alarm history
Initializes error history
Switches program number to be run
Switches task number to be run
Inserts one program step
Deletes one program step
Modifies one program step
Copies program
Deletes specified program
Deletes point data
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