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ID : 1011
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". If the I/O allocation mode is the RC3 compatible mode, refer to "[RC3 Compatible 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 |
* |
- | |
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. (0xffff deactivates all supervisory tasks) | － | |
| 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, CAL execution |
- | - |
00000010 External speed 100 |
- | - | |
10000000 External mode switching 10000011 Execution of all above (Motor ON -> CAL -> SP100 -> External) |
- | - | |
| 1000 Clear Robot Error |
- | - | - |
| 1001 I/O Write |
Set I/O value | First internal I/O port address | - |
| 1010 I/O Read |
- | First internal I/O port address | I/O |
*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.
See "Command and Data Areas" for the meanings of 0 and 1.
For about bits and ports allocation, refer to standard assignments section on the user's manual of each extension board.
Example: Program Execution
To execute PRO6, specify [0001 Program Operation], [00000010 Program start], and then [Program number =6].
"6" is expressed by binary number of sixteen figures as "0000000000000110".
The table below shows the correspondence between bit strings and areas.
| Bit | Command area | Data area 1 | Data area 2 |
|---|---|---|---|
| Bit 0 | 1 | 0 | 0 |
| Bit 1 | 0 | 1 | 1 |
| Bit 2 | 0 | 0 | 1 |
| Bit 3 | 0 | 0 | 0 |
| Bit 4 | Unused | 0 | 0 |
| Bit 5 | 0 | 0 | |
| Bit 6 | 0 | 0 | |
| Bit 7 | 0 | 0 | |
| Bit 8 | Unused | 0 | |
| Bit 9 | 0 | ||
| Bit 10 | 0 | ||
| Bit 11 | 0 | ||
| Bit 12 | 0 | ||
| Bit 13 | 0 | ||
| Bit 14 | 0 | ||
| Bit 15 | 0 |
Based on the table above, each port turns ON (short) /OFF (open) as shown below. Port number in the table below shows the number of DeviceNet.
| Port No. (example) |
Application | ON (short) /OFF (open) |
|---|---|---|
| 520 | Data area 1 Bit 0 | OFF |
| 521 | Data area 1 Bit 1 | ON |
| 522 | Data area 1 Bit 2 | OFF |
| 523 | Data area 1 Bit 3 | OFF |
| 524 | Data area 1 Bit 4 | OFF |
| 525 | Data area 1 Bit 5 | OFF |
| 526 | Data area 1 Bit 6 | OFF |
| 527 | Data area 1 Bit 7 | OFF |
| 528 | Data area 2 Bit 0 | OFF |
| 529 | Data area 2 Bit 1 | ON |
| 530 | Data area 2 Bit 2 | ON |
| 531 | Data area 2 Bit 3 | OFF |
| 532 | Data area 2 Bit 4 | OFF |
| 533 | Data area 2 Bit 5 | OFF |
| 534 | Data area 2 Bit 6 | OFF |
| 535 | Data area 2 Bit 7 | OFF |
| 536 | Data area 2 Bit 8 | OFF |
| 537 | Data area 2 Bit 9 | OFF |
| 538 | Data area 2 Bit 10 | OFF |
| 539 | Data area 2 Bit 11 | OFF |
| 540 | Data area 2 Bit 12 | OFF |
| 541 | Data area 2 Bit 13 | OFF |
| 542 | Data area 2 Bit 14 | OFF |
| 543 | Data area 2 Bit 15 | OFF |
| 544 | Command area Bit 0 | ON |
| 545 | Command area Bit 1 | OFF |
| 546 | Command area Bit 2 | OFF |
| 547 | Command area Bit 3 | OFF |
ID : 1011