Yamaha SRCP - Page 196

11-20
11
COMMUNICATION WITH PC
11-5 Communication Command Description
(13) @?EMG
Reads the emergency stop status.
Transmission example : @?EMG c/r l/f
Response example 1 : 0 c/r l/f .......................................... Emergency stop is off.
OK c/r l/f
Response example 2 : 1 c/r l/f .......................................... Emergency stop is on.
OK c/r l/f
(14) @?SRVO
Reads the servo status.
Transmission example : @?SRVO c/r l/f
Response example 1 : 0 c/r l/f .......................................... Servo is off.
OK c/r l/f
Response example 2 : 1 c/r l/f .......................................... Servo is on.
OK c/r l/f
(15) @?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
(16) @?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.
OK c/r l/f