Yamaha SRCP User Manual

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11-5 Communication Command Description
COMMUNICATION WITH PC
(9)@MOVA <point number>,<speed>
Moves the robot to a position specified by a point number at a specified speed.
Point number : This is a number assigned to each point (position data) and can
be from 0 to 999 (a total of 1,000 points). Data for the point
numbers can be edited with the @WRITE PNT statement. The
point variable "P" can also be used.
Speed : The speed can be set to any level between 1 and 100. If PRM30
(Maximum program speed) is 100, then 100 will be equal to 2000
mm/sec (when PRM44=2000).
Transmission example : @MOVA 123,100 c/r l/f ............... Moves the robot to point 123
at 100% speed.
Response example 1 : OK c/r l/f
Response example 2 : NG c/r l/f ...................................... The target position exceeds the
soft limit. Change the point
data or soft limit parameter.
30: soft limit over c/r l/f
(10) @MOVI <point number>,<speed>
Moves the robot a distance specified by a point number from the current position, at a specified
speed.
Point number : This is a number assigned to each point (position data) and can
be from 0 to 999 (a total of 1,000 points). Data for the point
numbers can be edited with the @WRITE PNT statement. The
point variable "P" can also be used.
Speed : The speed can be set to any level between 1 and 100. If PRM30
(Maximum program speed) is 100, then 100 will be equal to 2000
mm/sec (when PRM44=2000).
Transmission example : @MOVI 123,100 c/r l/f ................ Moves the robot a distance
defined by point 123, at 100%
speed.
Response example 1 : OK c/r l/f
Response example 2 : NG c/r l/f ...................................... The target position exceeds the
soft limit. Change the point
data or soft limit parameter.
30: soft limit over c/r l/f
c
CAUTION
When movement is interrupted with a stop (^C) statement, the current position in the program stays unchanged
so that the movement can be resumed by executing the @MOVI command again. However, if the command is
reset, the current position in the program is initialized to the actual robot position.

Yamaha SRCP Specifications

General

Brand	Yamaha
Model	SRCP
Category	Controller
Language	English