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ID : 7966

List of I/O Commands

The table below lists I/O commands.

I/O commands written in the following table are available only when the I/O allocation mode is the standard allocation. If the I/O allocation mode is Mini I/O-dedicated mode, refer to "List of I/O Commands" in the "[Mini I/O-dedicated mode] Types and Functions of System Input Signals".

All I/O commands must be used with I/O port No.515 "Strobe Signal (Input)."

If either the I/O port No.770 "Robot Error (Output)" or the I/O port No.776 "Robot Warning (Output)" occurs, any I/O commands other than "Clear Robot Error" cannot be used.

Command area Data area 1 Data area 2 Status area
0001
Program Operation

00000001
Program reset start

Program number

-

00000010
Program start

Program number

-

00000100
Continue start

(*1)

 -

00010000
Step stop

Program number

-
00100000
Instantaneous stop

Program number

 -
01000000
Reset		 Program number -
10000000
Activation of Supervisory Tasks		 Program No.
(0xffff activates all supervisory tasks of root, 0xfffe activates all supervisory tasks)		 -
10000001
Deactivation of Supervisory Tasks		 Program No.
(If the bit 15 is "1", all Supervisory tasks will stop)		 -
0010
External Speed and Acceleration Setting

00000001
Speed setting

Set speed value

-

00000010
Acceleration setting

Set acceleration value

-
00000100
Deceleration setting		 Set deceleration value -
0100
Error Read		 - - Error number
0101
Type I Variable Write		 Type I variable number Set variable value (lower 16 bits) -
0110
Type I Variable Read		 Type I variable number - Variable value (lower 16 bits)
0111
Mode Switching

00000001
Motor ON

 - -

00000010
External speed 100

 - -

00000100
Motion preparation

 - -

00000111
Execution of all above
(Motion preparation -> Motor ON -> SP100)

 - -
1000
Clear Robot Error		 - - -
1001
Internal I/O Write		 Set I/O value First internal I/O port address -
1010
Internal I/O Read		 - First internal I/O port address I/O
1111
Command for COBOTTA		 00000001
AutoCAL		 - -

(*1) : In execution of Continue Start command, program numbers will be ignored.

Order of Bit String

For command area, the data area 1 and the data area 2, each figure on bit strings apply to bit 0, bit 1, and bit 2 in order from the right.

"ON" represents the bit value = 1.
"OFF" represents the bit value = 0.

Example: Program Execution

To start PRO6 program with I/O commands, set each area as follows.

Command area : 0001 "Program Operation"
Data area 1 : 00000010 "Program start"
Data area 2 : 0000000000000110 "Program number = 6"

"6" is expressed by binary number of sixteen figures as "0000000000000110".

Each port turns on/off as the following table shows.

Command Area

I/O Port No. Application ON/OFF Bit value
544 Command area Bit 0 ON 1
545 Command area Bit 1 OFF 0
546 Command area Bit 2 OFF 0
547 Command area Bit 3 OFF 0

Data Area 1

I/O Port No. Application ON/OFF Bit value
520 Data area 1 Bit 0 OFF 0
521 Data area 1 Bit 1 ON 1
522 Data area 1 Bit 2 OFF 0
523 Data area 1 Bit 3 OFF 0
524 Data area 1 Bit 4 OFF 0
525 Data area 1 Bit 5 OFF 0
526 Data area 1 Bit 6 OFF 0
527 Data area 1 Bit 7 OFF 0

Data Area 2

I/O Port No. Application ON/OFF Bit value
528 Data area 2 Bit 0 OFF 0
529 Data area 2 Bit 1 ON 1
530 Data area 2 Bit 2 ON 1
531 Data area 2 Bit 3 OFF 0
532 Data area 2 Bit 4 OFF 0
533 Data area 2 Bit 5 OFF 0
534 Data area 2 Bit 6 OFF 0
535 Data area 2 Bit 7 OFF 0
536 Data area 2 Bit 8 OFF 0
537 Data area 2 Bit 9 OFF 0
538 Data area 2 Bit 10 OFF 0
539 Data area 2 Bit 11 OFF 0
540 Data area 2 Bit 12 OFF 0
541 Data area 2 Bit 13 OFF 0
542 Data area 2 Bit 14 OFF 0
543 Data area 2 Bit 15 OFF 0

ID : 7966

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