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YAMAHA SR1 Provider User's Guide - 24 -

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3.2.10. CaoRobot::Execute("YDEC") command

Command for DRCX only.

Keep moving the Y axis in a minus direction at PRM201 (JOG movement speed) until a control code (＾C) is

entered or the software limit is reached. If the robot is a rotation axis, the unit is deg/sec.

[Attention]

The software limit is not effective until origin return is completed.

Syntax YDEC ()

Return value

：

None

Example

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Dim aaa As Object

Set aaa = caoCtrl.AddRobot(“AAA”)

aaa.Execute(“YDEC”) ‘ Keep moving Y in plus direction at JOG movement speed

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3.2.11. CaoRobot::Execute("DRVD") command

Command for DRCX only.

Move the specified axis to the specified coordinate position.

Syntax DRVD (<vntDRVParam:VT_VARIANT | VT_ARRAY> )

< vntDRVParam >

：

[in] Drive information (VT_VARIANT | VT_ARRAY)

Array data:

< vntAxis > Axis number 1: X axis, 2: Y axis

<vntPosition> Movement position (mm) when the robot

is set to a rotation axis (deg)

< vntSpeed > Speed: 1 to 100

Return value

：

None

Example

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Dim aaa As Object

Set aaa = caoCtrl.AddRobot(“AAA”)

aaa.Execute(“DRVD”, Array(1,150.55,100)) ‘ Move X axis to X=150.55 position at 100% speed

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Yamaha DRCX Manuale Utente Pagina 24