Features II JS/JSR4400N SCARA Robot
JSG GANTRY Robot
JR2000N Desktop Robot
86
For the eoutCOM command, characters can be specified in hexadecimal code using the % symbol
(See e.g.3) However, if any character other than 0 – 9, A – F, or % comes after the % symbol, the %
symbol is output as a character. (See e.g.4) If you wish to output the % symbol as a character when
any of w0 – 9, A – F come after it, enter two % symbols (%%). (See e.g.5)
e.g.3: eoutCOM port2,"%0D%0A" : Output CR LF codes.
e.g.4: eoutCOM port2,"%G01" : Output a character string %G01.
e.g.5: eoutCOM port2,"%%300" : Output a character string %300.
■ COM Input: inCOM
Received data from COM is assigned to a variable by a specified number of characters. If the
received data is larger than the specified number of characters, characters counted from the top
according to the specified number are assigned.
If the received data is less than the specified number of characters, the robot stands by for the time
specified by the setWTCOM command, and then assigns the received data to a variable. If the
setWTCOM command is not set, the robot stands by for 0.1sec.
z If point job data including any COM input command is set at a [CP Passing Point], the robot stands
by for 0sec to receive data.
■ COM Receive Data Comparison: cmpCOM, ecmpCOM
The COM receive buffer (a place where received data is stored) and a specified character string are
compared one by one starting from the top character. The comparison result is indicated by a system
flag.
In cases when the data and the string are not equal, the comparison is completed, and data is not
received after the specified wait time, the corresponding system flags will be turned on. (See table
below)
You can set a wait time for receiving data using the setWTCOM command. If the setWTCOM
command is not set, the robot stands by for 0.1sec.
When using the ecmpCOM command, a character string compared with a receive buffer can be
specified using a string expression.
System Flags
COM1 COM2 COM3 COM4 (TPU)
Specified Character > Receive Buffer sysFlag(2) sysFlag(7) sysFlag(12) sysFlag(17)
Specified Character = Receive Buffer sysFlag(3) sysFlag(8) sysFlag(13) sysFlag(18)
Specified Character < Receive Buffer sysFlag(4) sysFlag(9) sysFlag(14) sysFlag(19)
Timeout sysFlag(5) sysFlag(10) sysFlag(15) sysFlag(20)
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