Yamaha ERCX Series, Руководство пользователя

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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 DO12) and memory output off. The
"current 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, DO7 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
11-5 Communication Command Description