Yamaha DRCX - Page 267

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11
COMMUNICATION WITH PC
11-5 Communication Command Description
(1-5) @INIT XPRM <single-axis robot number>
Initializes the X-axis parameter data to match the specified single-axis robot.
For robot numbers, refer to "15-1-2 Robot number list".
Transmission example : @INIT XPRM 20 c/r l/f ............... Parameters are initialized to
match the F14 robot.
Response example : OK c/r l/f
c
CAUTION
After initialization, change the lead length parameter (PRM60) to match the robot lead length.
(1-6) @INIT YPRM <single-axis robot number>
Initializes the Y-axis parameter data to match the specified single-axis robot.
For robot numbers, refer to "15-1-2 Robot number list".
Transmission example : @INIT YPRM 21 c/r l/f ............... Parameters are initialized to
match the F14 robot (vertical
use).
Response example : OK c/r l/f
c
CAUTION
After initialization, change the lead length parameter (PRM100) to match the robot lead length.
(1-7) @INIT CLOCK
Initializes the timer to 0, which is used to measure the total operation time of the DRCX control-
ler. The alarm history and error history are also initialized at this point.
Transmission example : @INIT CLOCK c/r l/f
Response example : OK c/r l/f
(1-8) @INIT ALM
Initializes the alarm history.
Transmission example : @INIT ALM c/r l/f
Response example : OK c/r l/f
(1-9) @INIT ERR
Initializes the error history.
This command is available with controller version 18.50 or later.
Transmission example : @INIT ERR c/r l/f
Response example : OK c/r l/f
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