Yamaha RCX40, User Manual

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7-
2
RS-232C interface
7
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 in even “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.
The flow of communication data is shown below.