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2. Communication function over view
2. Communication function over view
Chapter
There are two types of robot controller communication modes, "ONLINE" and "OFFLINE".
7
(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 even in "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.
7-2
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