Toshiba TS3100 - Page 98

STE 80722
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COMMUNICATION MANUAL
series Robot Controller
: Robot tip speed information acquisition (Host computer → Controller) VL
Format
VL, speed type
CR
Description
The VL command is used to transfer the specified robot tip speed information to the
host computer.
For details on the contents of the specified robot tip speed information, see the FL
(File) command.
Specify one of the following numbers for the speed type.
0: Robot tip speed (joint)
1: Robot tip speed (world)
Protocol
Controller Host computer
(1) Normal response
FL, robot tip speed information
(2) Error (Cannot receive request)
NG
CR
Negative response
VL, speed type
CR
OK
CR
Affirmative response