Yamaha ERCX, DRCX Ethernet unit control commands, Robot control commands, Transmission example

CHAPTER2 Ethernet Unit

2-9-2 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 : LOGOUT c/r l/f	Terminates TELNET
	communication.

(2)VER

This command shows the Ethernet unit version.

Transmission example	: VER c/r l/f
Response example	: Version_1.01 c/r l/f

(3)@ETHER ECHO <echo status>

Selects the Ethernet status.

Echo status	: 1 signifies using echoback. 0 signifies no echoback.
Transmission example	: @ETHER_ECHO_0 c/r l/f .. Sets to “no echoback”.
Response example	: OK c/r l/f

(4)@?ETHER ECHO

Reads out the echoback status.

Transmission example	: @?ETHER_ECHO_0 c/r l/f
Response example	: 0 c/r l/f	Echobackstatusis “no
	OK c/r l/f	echoback”.

2-9-3 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.

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