Communication Specifications; Communication Parameter Specifications; Communication Command Specifications - Yamaha TS-S User Manual

1. Communication specifications
B
1.1
The communication parameters on the mating unit, such as personal computer must be set as follows. Refer to
the relevant unit's operation manual for the setting procedure.
Communication parameter specifications
n
Baudrate
Data bit
Parity
Stop bit
Flow control
n
NOTE
Data that does not conform to the controller specifications may be received due to a variety of factors during
RS-232C communication.
1.2
The TS series robot controller provides ASCII character string communication commands to communicate with
an external communication device.
The communication commands are classified into four categories as follows.
Robot operation command
Status change command
Edit command
Query command
n
NOTE
The communication commands are applicable to the controller software version Ver.1.04.106 or higher.
The basic format of the communication command is as follows.
Data transmission format
@<command>[<data number/status>][.n] c/r l/f
@<command>[<data number>][.n]=<setting value> c/r l/f
Data response format
OK.n c/r l/f
NG.n=<alarm number>c/r l/f
RUN.n c/r l/f
END.n c/r l/f
• All communication commands consist of an ASCII character string that begins with a start code '@'(=40h) and ends
with c/r(=0Dh)l/f(=0Ah).
• 'n' (node number) is used for the daisy chain connection. One host communication device communicates with one
robot controller, or with all the daisy-chained controllers (up to 16 controllers).
n
NOTE
When 'n' (node number) is omitted, commands are sent to all the daisy-chained controllers.
c
CAutIoN
Make sure to perform automatic node number setting when you first use the daisy-chained controller or when
you have replaced the controllers.
to perform the node number setting, execute "Automatic node number assignment" in the support software
tS-Manager or send the "Automatic node number setting (SEtID)" command (communication command).
• The number of bytes, which can be output by one command response, is 255.
• " , " (comma) means the same as c/r l/f during data transmission.
B-2
Communication parameter specifications
Parameter
38,400bps
8 bits
Odd
1 bit
None
Communication command specifications
Type
Operates or stops the robot.
Changes the servo or brake status.
Writes the parameter or point data.
Reads the data or robot status.
Setting
Contents
n: Node number
n: Node number