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6
Exter
nal comm
unica
tion interf
ace
6-2
1.2 ONLINE and OFFLINE modes
The controller provides two communication modes, ONLINE mode and OFFLINE mode.
1. OFFLINE mode
In OFFLINE mode, the communication between the robot and external device is executed with SEND commands in the
program.
When using the RS-232C port and Ethernet port, specify "CMU" and "ETH", respectively.
• SEND command (robot
→
external device)
SEND <source file> TO CMU
SEND <source file> TO ETH
• SEND command (external device
→
robot)
SEND CMU TO <destination file>
SEND ETH TO <destination file>
2. ONLINE mode
In ONLINE mode, commands can be directly sent to the robot from the external device.
Commands to be sent directly from the external device are called "online commands".
The SEND command in the robot program is valid even in ONLINE mode.
To set ONLINE mode, select "ONLINE" as a communication parameter. The ONLINE statement in the program can also be
used to set ONLINE mode.
• ONLINE command format
@ [_] <online command> [<_command option>] <termination code>
[ ] shows optional arguments.
@ ........................ Start code (=40h)
_ ........................ Blank
<online command> ......... Refer to the YRCX programming manual.
<command option> ........ Refer to the YRCX programming manual.
<termination code> ........ CRLF(= 0Dh + 0Ah) code
■
Robot control commands start with the start code "@"(=40h) and are executed by sending a statement that the
termination code CRLF ((= 0Dh +0Ah) code) is put at its end. As exceptions, the control codes, such as "^C" or "^V",
do not need the start code and termination code.
■
One line consists of up to 255 characters except for the termination code ((CRLF(= 0Dh + 0Ah) code).
■
The communication command consists of <online command> and <command option> parts. Some commands have
no <command option> part or multiple <command option> parts.
■
Character codes to be used are JIS8 unit system codes (KATAKANA characters are added to the ASCII codes). For
details about the character code table, refer to "1.3 Character code" in this Chapter.
■
One or more space must be put between the <online command> and <command option> parts.
■
The <command option> part is specified by the user. Check the details of each communication command, and then
input appropriate data.
NOTE
• In OFFLINE mode, online commands from external devices cannot be received.
• When using online commands, be sure to switch to ONLINE mode.
• In the OFFLINE mode, the controller cannot be connected from the support software "SCARA-YRCX Studio".
Therefore, when connecting the controller using the support software, be sure to put the controller in the
ONLINE mode.