Communication Overview - Yamaha RCX240 User Manual

1. Communication over view
The robot controller can communicate with external devices in the following 2 modes using the
RS-232C interface.
These modes can be used individually or jointly in a variety of applications.
(1) Data communication is performed by communication commands in robot language (SEND
command).
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 the 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.
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NOTE
On robot controllers with "SAFE" mode enabled, online commands through the
RS-232C interface might not be used in "SERVICE" mode depending on the
operating device setting in "SERVICE" mode.
1. Communication over view
Chapter 8 RS-232C INTERFACE
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