Hi everybody,
few months ago I've been looking for some way how to make communication between robot and PC. There is OPC server, PC kit from Fanuc and few more. But we found that cheapest and for us easiest is to use option called Data Transfer, which enables serial communication via RS232. It took us one week or so to debug this function and now it works flawlessly. It allows read/write registers, position registers, use UOP signals (or its equivalent), download and upload programs and few more things.
If it's interesting for anyone, just let me know and I will try to help or explain or...
Tomas