STE 80722
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Section 4
Non-Protocol Communication
Non-protocol communication is used for exchanging data with a robot language
program and for printing out files.
The COM1 (RS-232C) port, and Ethernet IP1 and IP2 ports are used for non-protocol
communication.
The data format for character strings to be transferred between the robot controller and
the TCP/IP device is as shown below.
Character string + CR (0x0D)
Character string, character string + CR (0x0D)
These character strings are based on
ASCII format.
ASCII 0x0D (carriage return) is added
in the character string data. When a
plurality of data is transferred, the
character string is separated by
The functions as described in the simple protocol cannot be used for the non-protocol
data communication. Also, response to data received by the controller and timeout
check are not processed at all.
4.1 Communication with a Robot Language Program
Data communication with a robot language program can be performed using the PRINT
and INPUT commands. For more information on the robot language, see "Robot
Language Manual".
4.1.1 PRINT Command
The PRINT command allows you to send out a specified character string from the
controller. The controller transfers character strings or values of variable specified
by the PRINT command. The format of the PRINT command is shown below:
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