Ethernet Unit Control Commands; Robot Control Commands - Yamaha DRCX User Manual

CHAPTER2 Ethernet Unit
2-9-2
2-9-3

Ethernet unit control commands

These commands instruct the Ethernet unit to process the command task. Unlike the
robot control commands described later on, the Ethernet unit control commands may not
require a start code '@' (=40H) at the beginning of the command.
(1) LOGOUT
BYE
This command terminates TELNET communication. The LOGOUT and the BYE
commands have the same results. Always issue one of these commands when termi-
nating communication.
Cutting off communications without using these commands causes an error to be
issued and halts robot operation.
Transmission example
(2) VER
This command shows the Ethernet unit version.
Transmission example : VER c/r l/f
Response example
(3) @ETHER ECHO <echo status>
Selects the Ethernet status.
Echo status
Transmission example
Response example
(4) @?ETHER ECHO
Reads out the echoback status.
Transmission example
Response example

Robot control commands

Robot control commands access the controller and perform sophisticated processing.
Command specifications are identical to RS-232C communication commands. Refer to
the "Communication Command Description" in the controller instruction manual for
further information.
: LOGOUT c/r l/f ................... Terminates TELNET
: Version_1.01 c/r l/f
: 1 signifies using echoback. 0 signifies no echoback.
: @ETHER_ECHO_0 c/r l/f .. Sets to "no echoback".
: OK c/r l/f
: @?ETHER_ECHO_0 c/r l/f
: 0 c/r l/f ................................. Echobackstatusis "no
OK c/r l/f
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communication.
echoback".