Yamaha ERCX Series, User Manual

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11
11-5 Communication Command Description
COMMUNICA
TION WITH PC
11-5-3 Utilities
(1-1) @INIT PGM
Initializes all program data.
Transmission example : @INIT PGM c/r l/f
Response example : OK c/r l/f
(1-2) @INIT PNT
Initializes all point data.
Transmission example : @INIT PNT c/r l/f
Response example : OK c/r l/f
(1-3) @INIT PRM <robot number>
Initializes the parameter data to match the specified robot.
For robot numbers, refer to "15-1-2 Robot number list".
Transmission example
: @INIT PRM 90 c/r l/f .................. Parameter data is initialized to
match the model T4 robot.
Response example
: OK c/r l/f
c
CAUTION
After initialization, change the lead length parameter (PRM12) to match the robot lead length.
(1-4) @INIT CLOCK
Initializes the timer to 0, which is used to measure the total operation time of the ERCX controller.
The alarm history and error history are also initialized at this point.
Transmission example : @INIT CLOCK c/r l/f
Response example : OK c/r l/f
(1-5) @INIT ALM
Initializes the alarm history.
Transmission example
: @INIT ALM c/r l/f
Response example
: OK c/r l/f
(1-6) @INIT ERR
Initializes the error history.
This command is available with controller version 13.50 or later.
Transmission example : @INIT ERR c/r l/f
Response example : OK c/r l/f