Yamaha SRCP - Page 190

11-14
11
COMMUNICATION WITH PC
11-5 Communication Command Description
(18) @MOVM <pallet work position>,<speed>
Moves the robot to a specified pallet work position at a specified speed.
Pallet work position : The pallet work position is a number used to identify each point
on a matrix, and can be from 1 to 65025 (=255 × 255). The
counter array variable C or counter variable D 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 : @MOVM 5,100 c/r l/f .................. When a 4 × 3 matrix is
defined, the robot moves to the
point at "row 2, column 2" at
100% speed.
Response example 1 : OK c/r l/f
Response example 2 : NG c/r l/f ...................................... Data error. The specified pallet
work position is outside the
matrix.
23: data error c/r l/f
c
CAUTION
• The MOVM statement performs calculation on the assumption that the robot operates on the Cartesian
coordinate system.
• Because only a single-axis robot is controlled with the SRCP, the actual movement is linear even if a 2-
dimensional matrix is defined.
(19) @MAT <number of rows>,<number of columns>,<pallet number>
Defines a matrix.
Number of rows : Set the number of rows from 1 to 255.
Number of columns : Set the number of columns from 1 to 255.
Pallet number : The pallet number is a number used to identify each matrix
(pallet) and can be from 0 to 31.
Transmission example : @MAT 5,2,1 c/r l/f ....................... Defines a matrix of 5 × 2 on
pallet number 1.
Response example : OK c/r l/f
c
CAUTION
Because only a single-axis robot is controlled with the SRCP, the actual movement is linear even if a 2-
dimensional matrix is defined.
(20) @MSEL <pallet number>
Specifies a matrix where the robot moves with a MOVM statement.
Pallet number : The pallet number is a number used to identify each matrix
(pallet) and can be from 0 to 31.
Transmission example : @MSEL 0 c/r l/f ........................... Specifies pallet number 0.
Response example : OK c/r l/f