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YAMAHA SR1 Provider User's Guide - 17 -

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3.1.4. CaoController::Execute("?STP") command

Get the total number of steps of a specified program. Data can be acquired in integer type.

Syntax ?STP ( <lProgramNo:VT_I4> )

< lProgramNo >

：

[in] Program number (VT_I4)

Return value

：

[out] Total number of steps of the program (VT_I4)

Example

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Dim aaa As Variant

aaa = caoCtrl.Execute(“?STP”, 0) ‘ Get total number of steps of program number 0

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3.1.5. CaoController::Execute("ALMRST") command

Reset an alarm that occurred on the controller. Only a resettable alarm can be reset. For details about alarms

that cannot be reset, refer to the YAMAHA Robot Controller User's Manual.

Syntax ALMRST ()

Return value

：

None

Example

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caoCtrl.Execute(“ALMRST”) ‘ Reset alarm

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3.1.6. CaoController::Execute("SendControlCode") command

Send a one-byte control code to the controller. For details about control codes, refer to the YAMAHA Robot

Controller User's Manual.

Syntax SendControlCode ( <bytCode:VT_UI1> )

< bytCode >

：

[in] Control code (VT_UI1)

0x03

＾C: Abort ORG, XINC, XDEC, etc.

0x1A

＾Z: End of data transmission

0x02

＾B: Stop alarm message output

Return value

：

None

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