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. "Shorted" represents the bit value = 1.
   "Open" represents the bit value = 0.
   "Parity bit " is odd parity.
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.
5. Checksum can be set valid or invalid using a parameter. When checksum is invalid, no checksum check will be performed.