Yamaha DRCX - Page 249

11-16
11
COMMUNICATION WITH PC
11-5 Communication Command Description
(21) @WAIT <general-purpose input or memory input number>,<input status>
Waits until a specified general-purpose input or memory input is switched to a specified status.
Input number : Specify one of the general-purpose inputs from 0 to 15 (16
points) or one of the memory inputs from 100 to 147 (48 points).
Input status : Specify 1 (ON) or 0 (OFF).
Transmission example : @WAIT l,l c/r l/f .......................... Waits until DI1 becomes 1
(ON).
Response example : OK c/r l/f
(22) @TIMR <time>
Waits a specified amount of time.
Time : Set the time between 1 and 65535 in units of 10ms.
Transmission example : @TIMR 100 c/r l/f ....................... Waits one second.
Response example : OK c/r l/f
(23) @MAT <number of rows>,<number of columns>,<pallet number>
Defines a matrix.
Number of rows : Set the number of rows from 1 to 255.
Number of columns : Set the number of columns from 1 to 255.
Pallet number : The pallet number is a number used to identify each matrix
(pallet) and can be from 0 to 31.
Transmission example : @MAT 5,2,1 c/r l/f ....................... Defines a matrix of 5 × 2 on
pallet number 1.
Response example : OK c/r l/f
(24) @MSEL <pallet number>
Specifies a matrix where the robot moves with a MOVM statement.
Pallet number : The pallet number is a number used to identify each matrix
(pallet) and can be from 0 to 31.
Transmission example : @MSEL 0 c/r l/f ........................... Specifies pallet number 0.
Response example : OK c/r l/f
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