11-
6
11
COMMUNICA
TION WITH PC
11-4 Communication Command List
No.
Operation code
Operand 1
Operand 2
Operand 3
Command details
1.
2.
3.
4.
5.
6.
7.
8.
9.
10.
11.
12.
13.
14.
15.
16.
17.
18.
19.
20.
21.
22.
23.
24.
25.
26.
27.
28.
29.
30.
31.
32.
33.
?POS
?XPOS
?YPOS
?NO
?SNO
?TNO
?PNO
?STP
?MEM
?VER
?ROBOT
?CLOCK
?ALM
?EMG
?SRVO
?ORG
?XGRDP
?YGRDP
?MODE
?MAT
?MSEL
?PVA
?CSEL
?C
?D
?SHFT
?DI
?DO
?PRM
?P
READ
WRITE
?ERR
[axis]
program number
history number
[axis]
[axis]
pallet number
[array element
number]
input number
output number
parameter number
parameter number
point number
point number
program number
PGM
PNT
PRM
ALL
DIO
MIO
INF
PGM
PNT
PRM
ALL
history number
[display count]
parameter number
point number
step number
[display count]
number of steps
Reads current position of all axes or a
specified axis
Reads current position of X-axis
Reads current position of Y-axis
Reads current program number
Reads current step number
Reads current task number
Reads current point number
Reads total number of steps in specified
program
Reads number of steps that can be added
Reads ROM version number
Reads robot number
Reads total operation time of controller
Reads alarm history
Confirms emergency stop status
Confirms servo status of all axes or a
specified axis
Confirms return-to-origin status of all axes
or a specified axis
Reads X-axis grid position (%)
Reads Y-axis grid position (%)
Confirms operation mode
Reads matrix definition contents
Reads currently specified matrix number
Reads current point variable P
Reads currently specified element
number of counter array variable C.
Reads current counter array variable C
Reads current counter variable D
Reads current shift data
Reads general-purpose input or memory
input status
Reads general-purpose output or memory
output status
Reads specified parameter data
Reads specified multiple parameter data
Reads specified point data
Reads specified multiple point data
Reads specified program data
Reads all program data
Reads all point data
Reads all parameter data
Batch reads all program, point and
parameter data
Reads input/output information
Reads memory input/output information
Reads registered program information
Writes program data
Writes point data
Writes parameter data
Batch writes program, point and
parameter data
Reads error history
2. Data handling
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