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7
8
9
10
11
12
13
Reference commands 12-23
3
Reference commands
3.1
Acquiring return-to-origin status
Command format 1
@?ORIGIN[cr/lf]
Response format 1
x [cr/lf]
OK [cr/lf]
Command format 2
@?ORIGIN robot number [cr/lf]
Response format 2
x y{,y{,{...}}} [cr/lf]
OK [cr/lf]
Values
Robot number
............................................
x: Robot return-to-origin status ...................
y: Axis return-to-origin status ......................
1 to 4 (If not input, robot 1 is specified.)
0: Incomplete, 1: Complete
Shows the status of the axis 1, axis 2, …,
axis 6 from the left.
0: Incomplete, 1: Complete
(Omitted when the axis is not connected.)
Meaning
Acquires return-to-origin status.
Command format 1 acquires the return-to-origin status of all robots while command
format 2 acquires the status of the specified robot.
SAMPLE
Command:
@?ORIGIN 2 [cr/lf]
Response: 0 1,1,0,1 ················· Axis 3 of the robot 2 is in the
r e t u r n - t o - o r i g i n i n c o m p l e t e
status.
OK
[cr/lf]
Содержание SCARA YRCX Series
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