Omron R6YXC1000, Руководство пользователя, Страница: 111 / 260

6
Exter
nal comm
unica
tion interf
ace
6-1
1. Overview
1.1 Communication overview
To perform the communication between the controller and external device, a communication port (RS-232C
interface or Ethernet interface) is used to directly send the robot communication command (SEND command)
or send the command through the communication port.
As these communications are used individually or together, the robot is applicable to applications using an
external communication.
1. Robot language command (SEND command) is used.
Example: SEND A TO CMU … Sends the value of variable A to an external device through the RS-232C port.
SEND CMU TO P100 … Receives the point data P100 through the RS-232C port.
SEND ETH TO ALL … Receives the memory data of all systems through the Ethernet port.
The controller sends or receives the data corresponding to these commands.
* When using the RS-232C port and Ethernet port, specify "CMU" and "ETH", respectively.
2. Various commands are directly sent from the external device through the communication port.
These commands are called "online commands".
When using this function, a part of the controller operation can be performed from an external device.
Example: @RUN … Executes the program.
@READ PNT … Reads out all of point data.
@MOVE P,P123,SPEED=30… Moves the robot 1 to point 123 at 30%-speed.
NOTE
All online commands can be used only when the controller is in the AUTO mode and the control authority is
released externally.
When the controller is not in the AUTO mode, some commands, such as "@MOVE", cannot be executed.