Toshiba TS3100 - Page 74

STE 80722
– 69 –
COMMUNICATION MANUAL
series Robot Controller
: Variable read (Host computer → Controller) MR
Format
MR, Variable name Variable type
CR
Description
The MR command is used to transfer the read data of global-defined variable to the
host computer. Each variable name should consist of up to ten (10) characters.
For the array variable, specify the array elements ("Variable name (*, *, ···)").
Specify one of the following numbers for the variable type data.
0 : Integer type 5 : Array integer type
1 : Real number type 6 : Array real number type
2 : Load type 7 : Array load type
3 : Coordinate type 8 : Array coordinate type
4 : Position type 9 : Array position type
-1 : Unclarified
For details of the read data, see the FL (File) command.
Protocol
Controller Host computer
MR, Variable name Variable type
CR
(1) Normal completion
FL Read data
OK
CR
Affirmative response
(2) Abnormal completion
NG
CR
Request not accepted
(No variable name exists)
Note
Put in a delay of about 50 msec until the host computer sends an affirmative
response OK to the controller after the host computer has received the file contents.