Yamaha ERCX Series User Manual

11-20
11
COMMUNICATION WITH PC
11-5 Communication Command Description
(14) @?ORG
Reads whether or not return-to-origin has been completed.
Transmission example : @?ORG c/r l/f
Response example 1 : 0 c/r l/f .......................................... Return-to-origin not com-
pleted.
OK c/r l/f
Response example 2 : 1 c/r l/f .......................................... Return-to-origin completed.
OK c/r l/f
(15) @?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.
(16) @?PVA
Reads the point variable P. In multi-task operation, this command reads the program information
on the task currently selected.
Transmission example : @?PVA c/r l/f
Response example : 0 c/r l/f
OK c/r l/f
c
CAUTION
The contents of the point variable P are held even when the ERCX is turned off. However, when the program is
reset or when the program reset is applied for example by switching the execution program, the point variable P
will be initialized to 0.
(17) @?DI <general-purpose input or memory input number>
Reads the status of a general-purpose input or memory input.
Input number : Specify one of the general-purpose inputs 0 to 15 (16 points) or
one of the memory inputs 100 to 147 (48 points).
Transmission example : @?DI 1 c/r l/f
Response example 1 : 0 c/r l/f .......................................... Input status is off.
OK c/r l/f
Response example 2 : 1 c/r l/f .......................................... Input status is on.
OK c/r l/f

Yamaha ERCX Series Specifications

General

Brand	Yamaha
Model	ERCX Series
Category	Controller
Language	English