Command Execution I/O Signals Dedicated To Standard Mode; General Information About Commands - Denso RC5 Interface Manual

3.5 Command Execution I/O Signals
Dedicated to Standard Mode
In standard mode the I/O commands can be executed using command execution I/O
signals. I/O commands execute the following.
Operate (start and stop) a program for each task.
Refer to or change variables from the external device.
Refer to or change inputs and outputs from the external device.

3.5.1 General Information about Commands

The table below shows the I/O commands functions.
Command
Program operation
Speed setting
Error number read
Type I variable write
Type I variable read
Mode switching
Clear robot failure
Internal I/O write
Internal I/O read
I/O Command Functions
Description of function
Starts the program cycle (specified program).
Step-stops the program (specified program/all programs).
Immediately stops the program (specified program/all
programs).
Resets the program (specified program/all programs).
Sets the external speed.
Sets the external acceleration.
Sets the external deceleration.
Outputs the error number to the system I/O area.
Reads a value from the system I/O area and substitutes it for a
Type I variable.
Outputs a Type I variable to the system I/O area.
Switches the robot operation mode.
Clears a robot failure from the external device.
Sets the state of internal inputs and outputs.
Outputs the state of internal inputs and outputs to the system I/O
area.
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