Destination Device Command - Omron CJ Series Connection Manual

9.2. Destination Device Command

This section explains the destination device command.
9.2.1. Overview of the Command
This program reads the version information of the destination device by using the "Acquire
version information" command.
Command
?VER
Additional Information
Refer to Chapter 12 Online commands in the YAMAHA ROBOT CONTROLLER RCX series
Programming Manual (E76) for details.
9.2.2. Detailed Description of the Command
This section explains the processing to read the version information by executing "Acquire
version information".
●Send data (command) setting (D9000)
<Specifications of the destination device>
•The command is entered in ASCII code.
•Upper case characters are used for the command.
•The robot control command (command for the Robot Controller) starts with the starting
code '@' and ends with the termination code [CR] or [CR][LF].
Word
D9000 No. of send bytes (4-digit hex)
st nd
D9001 1 and 2
rd th
D9002 3 and 4
th th
D9003 5 and 6
th th
D9004 7 and 8
Acquires version information
Description (Data type)
bytes of send data (4-digit hex)
bytes of send data (4-digit hex)
bytes of send data (4-digit hex)
bytes of send data (4-digit hex)
Description
Data
#0007 (&7) 7 bytes from D9001 to D9007
#403F ('@?')
Starting code '@'
#5645 ('VE')
"?VER":
#520D
Destination device command
('R'[CR])
(Acquire version information)
#0A00
The termination code is [CR][LF]
([LF][NUL])
9．Program
Description
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