Toshiba TSL3000 Communications Manual page 98

series Robot Controller
: Robot tip speed information acquisition (Host computer → Controller) VL
Format
VL, speed type
Description
The VL command is used to transfer the specified robot tip speed information to the
host computer.
For details on the contents of the specified robot tip speed information, see the FL
(File) command.
Specify one of the following numbers for the speed type.
0: Robot tip speed (joint)
1: Robot tip speed (world)
Protocol
Controller
(1) Normal response
FL, robot tip speed information
(2) Error (Cannot receive request)
NG CR
Negative response
CR
VL, speed type
OK CR Affirmative response
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COMMUNICATION MANUAL
Host computer
CR
STE 80722