Yamaha CEmarking RCX221, Руководство пользователя

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7-1
Chapter
7
RS-232C INTERF
ACE
1. Communication overview
The robot controller can communicate with external devices in the following two modes
using the RS-232C interface.
These modes can be used individually or jointly in a variety of applications using the RS-
232C interface.
(1) Data communication is performed by a communication command (SEND command)
in robot language
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 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 might not
be used in service mode state depending on the operating device setting
in service mode.
1. Communication overview