Yamaha RCX142, User Manual

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8
RS-232C interface
1. Communication overview
The robot controller can communicate with external devices in the following 2 modes using the RS-
232C interface.
These modes can be used individually or jointly in a variety of applications.
(1) Data communication is performed by communication commands in robot language
(SEND command).
Example:
SEND A TO CMU
Variable A is transmitted to the external device.
SEND CMU TO P100
Point data P100 is received from the external device.
SEND CMU TO ALL
All system memories are received.
The robot controller communicates in compliance with the these commands.
(2) Various commands are transmitted directly through a communication port from the
external devices. These commands are called online commands.
If this function is used, some operations can be performed from an external device just
by turning on power to the robot controller.
Example:
@AUTO
Switches to “AUTO” mode.
@RUN
Executes a program.
@READ PNT
All point data are read out.
@MOVE P,P123,SPEED=30
Moves to point 123 at 30% of maximum speed.
n
NOTE
On robot controllers with “SAFE”
mode enabled, online commands
through the RS-232C interface might
not be used in “SERVICE” mode
depending on the operating device
setting in “SERVICE” mode.