Yamaha SRCP - Page 188

11-12
11
COMMUNICATION WITH PC
11-5 Communication Command Description
(11) @MOVF <point number>,<DI number>,<DI status>
This command moves the robot toward a position specified by a point number until a specified DI
input condition is met. When the DI condition is met, the robot stops and the command termi-
nates. Even if the DI condition is not met, the command terminates when the target point is reached.
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.
DI number : Specify one of the general-purpose inputs DI0 to DI7.
DI status : Specify 1 (ON) or 0 (OFF) as the input condition.
Transmission example : @MOVF 2,10,l c/r l/f ................... Moves to point 2 until DI10
becomes 1 (ON).
Response example : OK c/r l/f
c
CAUTION
The movement speed is set with PRM9 (MOVF speed) and independent of the PRM30 setting (Maximum
program speed).
(12) @DO <general-purpose output or memory output number>,<output status>
Turns a general-purpose output or memory output on or off.
Output number : Specify one of the general-purpose outputs from 0 to 4 (5 points)
or one of the memory outputs from 100 to 131 (32 points).
Output status : Specify 1 (ON) or 0 (OFF).
Transmission example : @DO 3,1 c/r l/f ............................. Turns on general-purpose
output 3.
Response example : OK c/r l/f
(13) @WAIT <general-purpose input or memory input number>,<input status>
Waits until a specified general-purpose input or memory input is switched to a specified status.
Input number : Specify one of the general-purpose inputs from 0 to 7 (8 points)
or one of the memory inputs from 100 to 147 (48 points).
Input status : Specify 1 (ON) or 0 (OFF).
Transmission example : @WAIT l,l c/r l/f .......................... Waits until DI1 becomes 1
(ON).
Response example : OK c/r l/f
(14) @TIMR <time>
Waits a specified amount of time.
Time : Set the time between 1 and 65535 in units of 10ms.
Transmission example : @TIMR 100 c/r l/f ....................... Waits one second.
Response example : OK c/r l/f