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YAMAHA SR1 Provider User's Guide - 20 -

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3.2.1. CaoRobot::Execute("ORG") command

Execute the push origin return operation and output the machine reference amount at normal end.

Syntax ORG ( [<lAxisNo:VT_I2>] )

[<lAxisNo>]

：

[in] Axis number 1: X axis, 2: Y axis

Return value

：

[out] Machine reference amount after completion of origin return

(VT_I4)

Example

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Dim aaa As Object

Dim bbb As Long

Set aaa = caoCtrl.AddRobot(“AAA”)

bbb = aaa.Execute(“ORG”) ‘ Origin return

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3.2.2. CaoRobot::Execute("SRVO") command

Execute servo ON/OFF control.

Syntax SRVO ( <lSrvoState:VT_I2>[,<lAxisNo:VT_I2>] )

< lSrvoState >

：

[in] Servo status (VT_I2)

0: Servo OFF, 1: Servo ON

[<lAxisNo>]

：

[in] Axis number 1: X axis, 2: Y axis

Return value

：

None

Example

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Dim aaa As Object

Set aaa = caoCtrl.AddRobot(“AAA”)

aaa.Execute(“SRVO”,1) ‘ Servo ON

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Yamaha DRCX Manuale Utente Pagina 20