Yamaha RCX240, User Manual

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Chapter 8 RS-232C INTERFACE Chapter 8 RS-232C INTERFACE
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2. Communication function overview
2. Communication function overview
There are 2 types of robot controller communication modes, "ONLINE" and "OFFLINE".
(1) "OFFLINE" mode
In "OFFLINE" mode, the communication between the robot and external unit is executed with
SEND commands in the program.
• SEND command (robot → external unit)
SEND <source file> TO CMU
• SEND command (external unit → robot)
SEND CMU TO <destination file>
(2) "ONLINE" mode
In "ONLINE" mode, a variety of commands can be sent directly from the external unit to the
robot.
Commands sent directly from the external unit are called online commands. The SEND
command in a program is also valid even in "ONLINE" mode.
To set "ONLINE" mode, select "ONLINE" as a communication parameter in "SYSTEM" mode.
The ONLINE statement in the program can also be used to set "ONLINE" mode.
• ONLINE command format
@ [_] <online command> [<_command option>] <termination code>
* The <termination code> is a CR(=0DH) code or CRLF (=0Dh+0Ah).
For detailed information on ONLINE commands, refer to the programming manual.