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■ Functions
(1) Controller communication function
・ This function allows communication with the robot controller via Ethernet.
(Program upload/download, status monitoring, etc.)
The personal computer support software (sold separately) is available as a robot controller programming support
tool.
・ This function allows communication with a maximum of 16 clients on other end.
(2) Data link function
・ The data link function allows to link numerical values and position data between robot programs and a personal
computer using the MELFA-BASIC IV language (OPEN/PRINT/INPUT instruction).
・ Data can be exchanged one to one by specifying the COM number at the communication open destination.
・ This function allows to communicate with up to eight applications of clients on other end by changing COM
numbers.
・ Either server mode or client mode can be selected as the TCP/IP function.
・ The customer needs to write application programs on the personal computer side.
(3) Real-time external control function
・The real-time external control function loads the position command data and performs operation in control cycle
units of the robot. The joint, orthogonality and motor pulse can be specified as the position data. Also, this
function monitors I/O signals and outputs signals at the same time.
・The data that can be monitored include the encoder feedback values, current command, and current feedback of
the position data type mentioned above.
・ This function is valid only for the following models:
RP-1AH/3AH/5AH series
RV-1A series
RV-2A/3AJ series
RV-4A/5AJ/3AL/4AJL series
RH-5AH/10AH/15AH series
RV-6S/6SL/12S/12SL series
RV-3S/3SJ/3SB/3SJB series
・ In order to control the robot, an application program on the personal computer side must be created by the
customer. It must communicate one to one.
Table 3-36 ： Software Versions and Functions of the Controller
Software version of the
robot controller
Versions A*, B*, C*, D*
and E1
Versions E2 to E4
Versions F*, G* and H1 to
H6
Versions H7 and later
Controller communication
function
○
○
○
Data link function
Data link function
(server)
(server/client)
The Ethernet option is disabled.
○
○
○
Real-time external control
function
×
×
○
○ ..... Can be used.
× ..... Cannot be used.
3Controller
×
○
○
Options 3-89
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