11-10
11
COMMUNICATION WITH PC
11-5 Communication Command Description
(5)
@SRVO <servo status> [,<axis>]
Controls the servo on/off operation of all axes or a specified axis.
Servo status : Specify 1 to turn the servo on or 0 to turn it off.
Axis : "0" for all axes, "1" for the X-axis, and "2" for the Y-axis.
If this setting is omitted, all axes are selected.
Transmission example : @SRVO 0 c/r l/f ........................... Turns off the servo of all axes.
Response example : OK c/r l/f
(6)@X+, (@X-)
@X+ moves the robot to the + side and @X- to the - side based on the following equation.
Movement distance = 1 × (PRM12/100) (mm) PRM12: Teaching movement data (%)
c
CAUTION
If the robot uses a rotary axis, the distance units are in degrees.
(7)@Y+, (@Y-)
This moves the Y-axis to the + or - side, based on the following equation.
Movement distance = 1 × (PRM12/100) (mm) PRM12: Teaching movement data (%)
c
CAUTION
If the robot uses a rotary axis, the distance units are in degrees.
(8)@XINC, (@XDEC)
@XINC moves the robot to the + side and @XDEC to the - side at a speed calculated by the
equation below. The robot continues moving until the ^C code is input or the robot reaches the
soft limit.
Movement speed = 100 × (PRM12/100) (mm/sec.) PRM12: Teaching movement data (%)
c
CAUTION
If the robot uses a rotary axis, then speed units are in deg/sec.
c
CAUTION
The soft limit will not work unless return-to-origin has been performed.
(9)@YINC, (@YDEC)
@YINC moves the Y-axis to the + side and @YDEC to the - side, at a speed calculated by the
equation below. The robot continues moving until the ^C code is input or the robot arrives at the
soft limit.
Movement speed = 100 × (PRM12/100)
(mm/sec)
PRM12: Teaching movement data (%)
c
CAUTION
If the robot is a rotary axis, the speed units are in deg/sec.
c
CAUTION
The soft limit will not function unless return-to-origin has been performed.
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