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Section 5
Simple Protocol Communication
The simple protocol communication issues a command to the robot controller and
performs start/stop operation of the robot, transfer of program files, and monitoring of
the status.
5.1 Transmission Protocol
The RS-232C HOST port and Ethernet IP0 port wait for requests from the host
computer after the power is supplied to the robot controller.
Basically, the host computer is a master station and the robot controller is a slave
station. The robot controller sends back necessary data to the host computer in reply
to commands reached from the host computer.
Fig. 5.1 Basic communication
Should the robot controller return an NG (Non-acknowledge) code in response to a
command from the host computer, or should the robot controller give no response at all,
resend the command from the host computer. Even should an error have occurred
while transmitting a file, resend the file upload (or download) command from the host
computer.
Furthermore, after receiving text from the controller, insert a delay of about 50 msec
before beginning to transmit subsequent text from the host computer.
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