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List of I/O Commands
The table below lists I/O commands.
| 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 the zero bit, the first bit, and the second bit 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 |
|---|---|---|---|
| The zero bit | 1 | 0 | 0 |
| The first bit | 0 | 1 | 1 |
| The second bit | 0 | 0 | 1 |
| The third bit | 0 | 0 | 0 |
| The 4th bit | 0 | 0 | 0 |
| The 5th bit | Unused | 0 | 0 |
| The 6th bit | 0 | 0 | |
| The 7th bit | 0 | 0 | |
| The 8th bit | Unused | 0 | |
| The 9th bit | 0 | ||
| The 10th bit | 0 | ||
| The 11th bit | 0 | ||
| The 12th bit | 0 | ||
| The 13th bit | 0 | ||
| The 14th bit | 0 | ||
| The 15th bit | 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/OFF |
|---|---|---|
| 520 | Data area 1 The zero bit | OFF |
| 521 | Data area 1 The first bit | ON |
| 522 | Data area 1 The second bit | OFF |
| 523 | Data area 1 The third bit | OFF |
| 524 | Data area 1 The 4th bit | OFF |
| 525 | Data area 1 The 5th bit | OFF |
| 526 | Data area 1 The 6th bit | OFF |
| 527 | Data area 1 The 7th bit | OFF |
| 528 | Data area 2 The zero bit | OFF |
| 529 | Data area 2 The first bit | ON |
| 530 | Data area 2 The second bit | ON |
| 531 | Data area 2 The third bit | OFF |
| 532 | Data area 2 The 4th bit | OFF |
| 533 | Data area 2 The 5th bit | OFF |
| 534 | Data area 2 The 6th bit | OFF |
| 535 | Data area 2 The 7th bit | OFF |
| 536 | Data area 2 The 8th bit | OFF |
| 537 | Data area 2 The 9th bit | OFF |
| 538 | Data area 2 The 10th bit | OFF |
| 539 | Data area 2 The 11th bit | OFF |
| 540 | Data area 2 The 12th bit | OFF |
| 541 | Data area 2 The 13th bit | OFF |
| 542 | Data area 2 The 14th bit | OFF |
| 543 | Data area 2 The 15th bit | OFF |
| 544 | Command area The zero bit | ON |
| 545 | Command area The first bit | OFF |
| 546 | Command area The second bit | OFF |
| 547 | Command area The third bit | OFF |