Yamaha DRCX - Utilities

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11-5 Communication Command Description
COMMUNICATION WITH PC
11-5-3 Utilities
(1-1) @INIT PGM
Initializes all program data.
Transmission example : @INIT PGM c/r l/f
Response example : OK c/r l/f
(1-2) @INIT PNT
Initializes all point data.
Transmission example : @INIT PNT c/r l/f
Response example : OK c/r l/f
(1-3) @INIT PRM <dual-axis robot type>
Initializes the parameter data to match the specified dual-axis robot.
For robot numbers, refer to "15-1-2 Robot number list".
Transmission example : @INIT PRM 110 c/r l/f ................ Parameter data is initialized to
match the model SXYx robot.
Response example : OK c/r l/f
c
CAUTION
After initialization, change the lead length parameters (X-axis: PRM60, Y-axis: PRM100) to match the robot
lead length.
c
CAUTION
When a Cartesian robot (XY robot) such as SXYx and MXYx is specified, always enter the Y-axis stroke (in mm)
after initialization. (See below.)
Transmit/receive example: (When Y-axis stroke is 250 mm)
Transmit Receive
@WRITE PRMc/r l/f
READY c/r l/f
PRM58=250c/r l/f
^Z (=1AH)
OK c/r l/f
(1-4) @INIT CPRM
Initializes the common parameters to the default value.
Transmission example : @INIT CPRM c/r l/f
Response example : OK c/r l/f
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