Yamaha SRCP - Manual (Page 203)

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11-5 Communication Command Description
COMMUNICA
TION WITH PC
(23-4) @WRITE ALL
Writes all data (parameters, programs and points) at one time. The controller will transmit READY
when this command is received. Confirm that READY is received and then transmit all data.
Always transmit ^Z (=1AH) at the end of the data.
Transmission example : Send Receive
@WRITE ALL c/r l/f
READY c/r l/f
PRM0=516 c/r l/f
PRM1=350 c/r l/f
c/r l/f
NO10 c/r l/f
CALL 0, 20 c/r l/f
STOP c/r l/f
c/r l/f
P1=550.00 c/r l/f
^Z(=1AH)
OK c/r l/f
c
CAUTION
• Always place one or more empty line to separate between each data group (parameters, programs, points).
• There is no specific rule in the data group sequence. There can be data groups that are not written in.
• When @WRITE ALL is executed, the previous data of the same program number or point number is
overwritten. (The previous data remains as long as its program number or point number differs from the
program number or point number to be written.)
• Loading unsuitable robot data to the SRCP can inhibit the robot controller performance, possibly resulting in
failures, malfunctions, and errors.
(24)@?MAT
Reads the matrix data on a specified pallet.
Pallet number : This is a number used to identify each matrix (pallet) and can be
from 0 to 31.
Transmission example : @?MAT 1 c/r l/f ........................... Reads the matrix data on pallet
number 1.
Response example : 20,30 c/r l/f
OK c/r l/f
(25)@?MSEL
Reads the pallet number for the currently specified matrix. In multi-task operation, this command
reads the program information on the task currently selected.
Transmission example : @?MSEL c/r l/f
Response example : 0 c/r l/f
OK c/r l/f