IAI RoboNet Operation Manual page 191

■ Operation Timing Chart
Timing chart Successful pattern of read-only operation
Data is read from the gateway unit in each cycle.
1. Successful pattern, no request
FB_Busy
Reading
Successful response
Error response
Error clear
2. Error pattern, no request
FB_Busy
Reading
Successful response
Error response
Error clear
3. Successful pattern, with request
GW control command
Command
Data write command
FB_Busy
GW control write
Command write
Axis data write
GW information read
Successful response
Error response
Error clear
Part 1 Specification
If Continuation is set, operation will
continue even after an error occurs.
If a write command is received during communication,
the command will be executed by interrupting after the
current processing.
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