Denso RC5 Specifications download pdf (Page 70)

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2.4 Serial Communication

2.4.1 Circuit Number

The table below lists the relationship between the circuit numbers and channel

numbers assigned in the robot controller.

Circuit and Channel Number Assignment

Circuit number Channel number Used as:

0 ch1 Teach pendant port

1 ch2 Universal port

2 ch3 (Reserved)

3 ch4 (Reserved)

4 to 7 (NOTE1) ch5 to ch8 Ethernet server ports

8 to 15 (NOTE1) ch9 to ch16 Ethernet client ports (NOTE2)

NOTE1: Version 1.9 or later

NOTE2: When using the Ethernet client port, you need to open or close a port

using com_encom or com_discom statement explained in Section 7.2, "Serial

Binary Transmission."

NOTE3: For setting the Client or Server of the Robot Controller, refer to

“SETTING-UP MANUAL, Section 5.7”.

2.4.2 Communication Command

In PAC language, the following four commands are used for communication

through the RS232C or Ethernet interface. The command format is the same

for both the RS232C and Ethernet. For commands, refer to Section 13.2.

PRINT statement (Output)

WRITE statement (Output)

INPUT statement (Input)

LINEINPUT statement (Line input)

The PRINT and WRITE statements differ in their output form. Character-strings

outputted in the form of WRITE statement can be correctly inputted using the

INPUT statement.

2.4.3 Clearing the Communication Buffer

The FLUSH statement clears the RS232C and Ethernet communication

buffers.

Be sure to clear those buffers before starting communication.

FLUSH statement : Refer to Section 13.2, “ FLUSH”

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Denso RC5 Specifications Page 70

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