Yamaha DRCX - Manual (Page 32)

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CHAPTER2 Ethernet Unit
2-9-2 Ethernet unit control commands
These commands instruct the Ethernet unit to process the command task. Unlike the
robot control commands described later on, the Ethernet unit control commands may not
require a start code ‘@’ (=40H) at the beginning of the command.
(1) LOGOUT
BYE
This command terminates TELNET communication. The LOGOUT and the BYE
commands have the same results. Always issue one of these commands when termi-
nating communication.
Cutting off communications without using these commands causes an error to be
issued and halts robot operation.
Transmission example : LOGOUT c/r l/f ................... Terminates TELNET
communication.
(2) VER
This command shows the Ethernet unit version.
Transmission example : VER c/r l/f
Response example : Version_1.01 c/r l/f
(3) @ETHER ECHO <echo status>
Selects the Ethernet status.
Echo status : 1 signifies using echoback. 0 signifies no echoback.
Transmission example : @ETHER_ECHO_0 c/r l/f .. Sets to “no echoback”.
Response example : OK c/r l/f
(4) @?ETHER ECHO
Reads out the echoback status.
Transmission example : @?ETHER_ECHO_0 c/r l/f
Response example : 0 c/r l/f ................................. Echobackstatusis “no
echoback”. OK c/r l/f
2-9-3 Robot control commands
Robot control commands access the controller and perform sophisticated processing.
Command specifications are identical to RS-232C communication commands. Refer to
the “Communication Command Description” in the controller instruction manual for
further information.