3 / 57V1.3 19.06.2007 KSS-ED-CRCWR-54-55-70 en
Contents
1 Introduction ...................................................................................................... 5
1.1 Target group ................................................................................................................... 5
1.2 Robot system documentation ......................................................................................... 5
1.3 Representation of warnings and notes ........................................................................... 5
2 Description of functions .................................................................................. 7
3 Communication channels ............................................................................... 9
3.1 Communication via a serial interface .............................................................................. 9
3.2 Communication via external modules ............................................................................. 9
3.3 Communication via the command channel ..................................................................... 10
4 Configuring the serial interface ...................................................................... 11
4.1 Overview of configuration of the serial interface ............................................................. 11
4.2 Assigning the serial interface to the operating system ................................................... 11
4.3 Configuring the serial interface ....................................................................................... 11
4.4 Configuring the 3964R procedure ................................................................................... 12
4.5 Configuring the Xon/Xoff protocol ................................................................................... 13
4.6 Displaying sent/received data with Telnet ...................................................................... 14
4.7 3964R procedure ............................................................................................................ 15
4.7.1 3964R procedure sends data .................................................................................... 15
4.7.2 3964R procedure receives data ................................................................................. 16
4.7.3 Initialization conflict .................................................................................................... 17
5 Configuring the external modules .................................................................. 19
6 Programming .................................................................................................... 21
6.1 Programming overview ................................................................................................... 21
6.2 Symbols and fonts .......................................................................................................... 21
6.3 CHANNEL ....................................................................................................................... 22
6.4 COPEN ........................................................................................................................... 22
6.5 CREAD ........................................................................................................................... 23
6.6 CWRITE .......................................................................................................................... 25
6.7 CCLOSE ......................................................................................................................... 27
6.8 CIOCTL ........................................................................................................................... 27
6.9 SREAD ........................................................................................................................... 28
6.10 SWRITE .......................................................................................................................... 29
6.11 CAST_TO ....................................................................................................................... 30
6.12 CAST_FROM ..................................................................................................................32
6.13 Permissible data types in CAST statements ................................................................... 32
6.14 "State" variable ............................................................................................................... 33
6.14.1 Structure type STATE_T ............................................................................................ 33
6.14.2 Return values for the variable "RET1" ....................................................................... 34
6.15 "Format" variable ............................................................................................................ 35
6.15.1 "Format" variable for CREAD/SREAD ....................................................................... 35
6.15.2 "Format" variable for CWRITE/SWRITE .................................................................... 36
6.15.3 Conversion characters ............................................................................................... 37
Contents