STE 80722
– 48 –
The communications through the IP0 port are effective irrespective of master modes,
but their function is limited by a master mode. For details, see the following table.
Table 5.4 IPO port (Ethernet) commands and operation modes
Master mode (Key switch) TEACHING
INTERNAL
(TS3000)
EXT
Parameter (EXTERNAL mode control right) SIG RS-232C ETHER
Maximum speed of robot
250
mm/sec
100% 100% 100% 100%
Command Description
RN Automatic operation start X X X X
SP Stop
BR Servo OFF
SO Servo ON X X X X
RS Program reset X X X X
SL Program selection
UL File upload
DL File download
CA Directory request
SU Status request
ER File erase
EU Error history upload
EC Internal command X X X X
MW Variable write
FD Feed hold
SF System total status
MR Variable read
IW I/O write X X X X
VR Version read
DO Execution of DO statement X X X X
AC
Currently occurring alarm
acquisition
MD Guide mode setting X X X X
RT Guide rate setting X X X X
SC Guidance coordinate setting X X X X
JG JOG execution X X X X
ZS Coordinate setting X X X X
MP
Teaching point movement
execution
X X X
X
PS Current position acquisition
PR
Individual current position
acquisition
MN
Maintenance information
acquisition
RM
Maintenance information
reset execution
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