Yamaha DRCX - Page 258

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11-5 Communication Command Description
COMMUNICATION WITH PC
(18) @?YGRDP
Reads the Y-axis grid position (machine reference when return-to-origin is completed).
Transmission example : @?YGRDP c/r 1/f
Response example : 52% c/r 1/f
OK c/r l/f
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CAUTION
The response value will be meaningless if return-to-origin is not completed. Always transmit the command after
return-to-origin has been completed.
(19) @?MODE
Reads the robot status.
Transmission example : @?MODE c/r l/f
Response example 1 : 0 c/r l/f .......................................... Robot is stopped.
OK c/r l/f
Response example 2 : 1 c/r l/f .......................................... Program is being executed
from TPB or PC.
OK c/r l/f
Response example 3 : 2 c/r l/f .......................................... Program is being executed by
I/O command.
(20) @?MAT <pallet number>
Reads the matrix data on a specified pallet.
Pallet number : This is a number used to identify each matrix (pallet) and can be
from 0 to 31.
Transmission example : @?MAT 1 c/r l/f ........................... Reads the matrix data on pallet
number 1.
Response example : 20,30 c/r l/f
OK c/r l/f
(21) @?MSEL
Reads the pallet number for the currently specified matrix. In multi-task operation, this command
reads the program information on the task currently selected.
Transmission example : @?MSEL c/r l/f
Response example : 0 c/r l/f
OK c/r l/f
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