Yamaha DRCX User Manual page 263

2-axis robot controller
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11-5 Communication Command Description
11
30
11-
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(31-5) @READ ALL
Reads all data (parameters, programs, points) at one time. Each data group (parameters, pro-
grams, points) is separated by an empty line (a carriage return only).
Transmission example
Response example
(31-6) @READ DIO
Reads the on/off status of DIO. Refer to "4-3-4 DIO monitor screen".
Transmission example
Response example
(31-7) @READ MIO
Reads the on/off status of memory I/O. From the left, the top line shows MIO numbers from 115
to 100, the middle line from 131 to 116, and the bottom line from 147 to 132.
Transmission example
Response example
(31-8) @READ INF
Reads the status of the registered programs. The registered program numbers and number of steps
are displayed.
Transmission example
Response example
: @READ ALL c/r l/f
: PRM0=4 c/r l/f
PRM1=1 c/r l/f
:
:
PRM117=0 c/r l/f
c/r l/f
NO0 c/r l/f
MOVA 0,100 c/r l/f
MOVA 1,100 c/r l/f
NO10 c/r l/f
CALL 0, 10 c/r l/f
STOP c/r l/f
c/r l/f
P0=0.00,0.00 c/r l/f
P1=550.00,350.00 c/r l/f
^Z (=1AH)
OK c/r l/f
: @READ DIO c/r l/f
: D I 00000000 00000000 c/r l/f
10000000
DO 00000000 11000000 c/r l/f
XO:0 YO:1 XS:1 YS:1 c/r l/f
OK c/r l/f
: @READ MIO c/r l/f
: M
00000000 00000000 c/r l/f
00000000 00000000 c/r l/f
00000000 00000001 c/r l/f
OK c/r l/f
: @READ INF c/r l/f
: NO0- 43 steps c/r l/f
NO1- 52 steps c/r l/f
NO31- 21 steps c/r l/f
^Z (=1AH)
OK c/r l/f
c/r l/f

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