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1. Communication specifications
1. Communication specifications
1
1.1 Communication parameter specifications
The communication parameters on the mating unit, such as personal computer
must be set as follows. Refer to the relevant unit's operation manual for the setting
procedure.
2
Communication parameter specifications
■
Baudrate
Data bit
Parity
Stop bit
3
Flow control
1.2 Communication command specifications
The TS series robot controller provides ASCII character string communication
commands to communicate with an external communication device.
The communication commands are classified into four categories as follows.
Robot operation command
Status change command
Edit command
Query command
The basic format of the communication command is as follows.
Data transmission format
@<command>[<data number/status>][.n] c/r l/f
@<command>[<data number>][.n]=<setting value> c/r l/f
Data response format
OK.n c/r l/f
NG.n=<alarm number>c/r l/f
RUN.n c/r l/f
END.n c/r l/f
• All communication commands consist of an ASCII character string that begins
with a start code '@'(=40h) and ends with c/r(=0Dh)l/f(=0Ah).
• 'n' (node number) is used for the daisy chain connection. One host communication
device communicates with one robot controller, or with all the daisy-chained
controllers (up to 16 controllers).
When 'n' (node number) is omitted, commands are sent to all the daisy-chained controllers.
NOTE
Make sure to perform automatic node number setting when you first use the daisy-
chained controller or when you have replaced the controllers.
To perform the node number setting, execute "Automatic node number assignment"
in the support software TS-Manager or send the "Automatic node number setting
CAUTION
(SETID)" command (communication command).
• The number of bytes, which can be output by one command response, is 255.
• " , " (comma) means the same as c/r l/f during data transmission.
C-2
Communication Command Guide
Parameter
38,400bps
8 bits
Odd
1 bit
None
Type
Operates or stops the robot.
Changes the servo or brake status.
Writes the parameter or point data.
Reads the data or robot status.
Setting
Contents
n: Node number
n: Node number
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