Yamaha SRCP, User Manual

Page: 185 / 246

11-
9
11
COMMUNICA
TION WITH PC
(2)@RESET
This returns the program execution step to the first step of the program selected with the '@SWI'
statement, and turns all general-purpose outputs (DO0 to DO4) and memory output off. The "cur-
rent position in the program" used as a reference for the relative movement command (MOVI) is
initialized to the current position of the robot, and the point variable P is also cleared to 0.
Transmission example : @RESET c/r l/f
Response example 1 : OK c/r l/f
Response example 2 : NG c/r l/f ...................................... The robot is running.
Execute the command again
after stopping the robot. 31: running c/r l/f
* When PRM33 ("operation at return-to-origin complete" parameter) is set to 1 or 3, DO4 does
not turn off even if the @RESET command is executed. Likewise, when PRM46 (servo status
output parameter) is set to 1, DO3 does not turn off even if the @RESET command is executed.
(3)@RUN
This executes a program all the way to the last step.
In the case of a multi-task program, all tasks are executed.
Transmission example : @RUN c/r l/f
Response example 1 : STOP c/r l/f .................................. The last step of the program
has been executed.
60: program end c/r l/f
Response example 2 : NG c/r l/f ...................................... Return-to-origin has not been
performed. Execute the
command again after perform-
ing return-to-origin 32: origin incomplete c/r l/f
c
CAUTION
When using an endless program (program that unconditionally returns to the head of the program at the last
step), there will be no response.
(4)@SRUN
This executes only one step of a program.
In the case of a multi-task program, the selected task is executed.
Transmission example : @SRUN c/r l/f
Response example 1 : OK c/r l/f
Response example 2 : STOP c/r l/f .................................. The last step of the program
has been executed.
60: program end c/r l/f
Response example 3 : NG c/r l/f ...................................... Return-to-origin has not been
performed. Execute the
command again after perform-
ing return-to-origin. 32: origin incomplete c/r l/f
(5)@SRVO <servo status>
Turns the servo on or off.
Servo status
: Specify 1 to turn the servo on or 0 to turn it off.
Transmission example : @SRVO 0 c/r l/f ........................... Turns the servo off.
Response example : OK c/r l/f
11-5 Communication Command Description