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ID : 10391

Command and Data Areas

This section describes the usage of the command area (4 bits, input), data area 1 (8 bits, input), data area 2 (16 bits, input) and command and data area odd parity (input).

Function

Specifies the commands to be executed by the Robot Controller.

Sets the command area at all times, and data areas 1 and 2, if necessary.

Input Conditions and Operation

  1. Set the command area whenever I/O commands are to be executed. Set data for data areas 1 and 2 if commands require them.
  2. "ON" represents the bit value = 1.
    "OFF" represents the bit value = 0.
  3. Input the command area, data areas 1 and 2, and command and data area odd parity before the strobe signal (1 ms. or more). Retain the status until the command processing complete signal is output.
  4. Input 1 or 0 as the parity bit so that the total of 1s existing in the command area, data areas 1 and 2 and the command and data area odd parity will be odd.
    The data areas count even commands, which do not require any data area, in a check sum calculation.

Port Number Allocation

Command and Data Area Odd Parity

Port number Signal name
519 command and data area odd parity

Data Area 1

Port number Signal name
520 Data area 1, bit 0
521 Data area 1, bit 1
522 Data area 1, bit 2
523 Data area 1, bit 3
524 Data area 1, bit 4
525 Data area 1, bit 5
526 Data area 1, bit 6
527 Data area 1, bit 7

Data Area 2

Port number Signal name
528 Data area 2, bit 0
529 Data area 2, bit 1
530 Data area 2, bit 2
531 Data area 2, bit 3
532 Data area 2, bit 4
533 Data area 2, bit 5
534 Data area 2, bit 6
535 Data area 2, bit 7
536 Data area 2, bit 8
537 Data area 2, bit 9
538 Data area 2, bit 10
539 Data area 2, bit 11
540 Data area 2, bit 12
541 Data area 2, bit 13
542 Data area 2, bit 14
543 Data area 2, bit 15

Command Area

Port number Signal name
544 Command area, bit 0
545 Command area, bit 1
546 Command area, bit 2
547 Command area, bit 3

ID : 10391

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