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    Pretty much. A last resort universal standard, when other forms of communication have failed or are unavailable. R2 and 3PO communicate via audio because they have no standard communication interface. Astromechs and protocol droids would have little reason to interact normally, for the same reason that your power drill doesn't have a standard socket to interface with your laptop. So R2 and 3PO use the standard backup communication medium, which conveniently for the audience lets us see the characters interacting, instead of standing inert and having conversations via some inaudible protocol. Commented Jan 12, 2016 at 9:06
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    ADSL and VDSL are also just "using tones" to communicate, but instead of only being able to use tones from 300 to 3300 Hz, they use up to 12MHz. Commented Jan 12, 2016 at 14:04