General Information about Processing

I/O commands to be executed are processed as shown below.

Outline of I/O Command Processing (Standard mode)

1. Set a command area, a data area (if necessary) and command and data area odd parity for the command execution I/O signal from the external device to the Robot Controller.
   
   The data to be set in (1) must be defined more at least 1 msec. before the strobe signal is turned ON.
2. After the setting is completed, turn ON the strobe signal.
   
   Perform command input with a strobe signal after the system output signal Robot Initialization Complete is output.
3. The controller reads the command area, the data area and the command and data area odd parity as the strobe signal is input.
4. The controller starts processing based on the command it read.
5. If the command is one that outputs a status, the controller sets the status area and status parity.
6. After command processing has been completed and a status area has been set, the controller turns ON the command processing complete signal. If an error occurs in the while processing, a Robot Error signal will be outputted together with the command processing complete signal.
7. The PLC waits until the command processing complete signal is input, and receives the status of the status area, if necessary. In this case, confirmation that no error exists with the robot.
8. After the PLC has read the status, it turns OFF the command and data areas and the strobe signal.
   
   The maximum time taken until the status area and the command processing complete signal are turned OFF, after the strobe signal is turned OFF in 8, is 100 msec.
9. As soon as the strobe signal is turned OFF, the controller turns OFF the status area and the command processing complete signal. The Robot Error signal, which is outputted due to a command processing error, remains ON until Clear Robot Error is executed.
   
   If the strobe signal is turned OFF before the command processing complete signal is turned ON in (2), the command processing complete signal and the status area will be output and then turned OFF within 100 msec.