Toshiba TSL3000 Communications Manual page 33

series Robot Controller
Specifying a relative position (COM1)
PROGRAM RELATIV
X = 0.0
Y = 0.0
SUM = 0.0
MOVE P1
PRINT COM1, "REQ"
INPUT COM1, X, Y, SUM
IF SUM == X + Y + 1 THEN GOTO
ACTION
PRINT COM1, "NG"
GOTO FIN
ACTION:
PRINT COM1, "OK"
MOVE P1 + POINT (X, Y)
FIN:
END
COMMUNICATION MANUAL
In this program, the controller moves
the robot to a position specified by the
external device.
The controller sends the character
string REQ to the external device.
The external device will respond by
sending back the values for
coordinate positions X and Y, and also
the sum of these values plus 1 (as
check-sum data). The controller will
then see if the received data is correct
by adding X and Y, adding 1 to the
result, value agrees with the
check-sum value. If it does agree,
the controller will send back the
character string OK to the external
device.
If the received data is wrong, the
controller will send the character string
NG back to the external device and
quit the program.
The controller will add the X and Y
values of the transmission to the X
and Y values of positional data P1 and
make the robot move to the new
position thus created.
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