Communica tion with pc – Yamaha SRCP User Manual
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11
COMMUNICA
TION 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