I/O Data Reading / Writing Command - YASKAWA DX100 Instructions Manual

162529-1CD
DX100

3.3.9 I/O Data Reading / Writing Command

Command No. 0x78
Instance Specify one out of followings
1 to 256
•
1001 to 1256
•
2001 to 2256
•
3001 to 3256
•
4001 to 4160
•
5001 to 5200
•
6001 to 6064
•
7001 to 7999
•
2501 to 2756
•
3501 to 3756
•
8001 to 8064
•
8201 to 8220
•
Attribute Fixed to "1".
Service Get_Attribute_Single: 0x0E
•
Set_Attribute_Single: 0x10
•
32bit integer Byte 0
1 IO data
Status Respond by one in the followings
0x00 : respond normally
•
Other than 0x00
•
Added status 0: no added status
•
size 1: 1 WORD
•
2: 2 WORD
•
Added status The error code specified by the
added status size
32bit integer Byte 0
1 IO data
3 Transmission Procedure
3.3 Respective Commands for Robot Control
Request
Sub header part
Data part
(Data exists during the writing operation only)
Byte 1 Byte 2 Byte3
Answer
Sub header part
: respond abnormally
Data part
(Data exists during the writing operation only)
Byte 1 Byte 2 Byte3
3-36
<Details>
Specify logical number /10
1 to 256 : Robot user input
•
1001 to 1256: Robot user output
•
2001 to 2256: External input
•
2501 to 2756: Network input
•
3001 to 3256: External output
•
3501 to 3756: Network output
•
4001 to 4160: Robot system input
•
5001 to 5200: Robot system output
•
6001 to 6064: Interface panel input
•
7001 to 7999: Auxiliary relay
•
8001 to 8064: Robot control status signal
•
8201 to 8220: Pseudo input
•
Specify "1".
Specify the accessing method to the data.
0x0E: Read out of all I/O data is enabler
0x01: Only network input signal is writable.
<Details>
<Details>
"1" indicates 1 WORD of added status data, and "2"
indicates 2 WORD of added status data.
The error code of 1 WORD exists if the added status
code is "1" and that of 2 WORD exists if the code is "2".
<Details>
I/O data exists only when requested by the client.
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