I/O Commands Details - Denso RC5 Interface Manual

3.5.3 I/O Commands Details

3.5.3.1 List of I/O Commands
Command area
0001
Program operation
0010
External speed and
acceleration setting
0100
Error read
0101
Type I variable
write
0110
Type I variable read
0111
Mode switching
1000
Clear robot failure
1001
I/O write
1010
I/O read
(Note) In execution of Continue Start command, program numbers will be ignored.
The table below lists I/O commands.
List of I/O Commands
Data area 1
00000001 Program reset start
00000010 Program start
00000100 Continue start
00010000 Step stop
00100000 Instantaneous stop
01000000 Reset
00000001 Speed setting
00000010 Acceleration setting
00000100 Deceleration setting
Type I variable number
Type I variable number
00000001 Motor ON, CAL execution
00000010 External speed 100
10000000 External mode switching
10000011 Execution of all above
(Motor ON CAL SP100 External)
Set I/O value
Data area 2
Program number
Program number
(Note)
Program number
Program number
Program number
Set speed value
Set acceleration
value
Set deceleration
value
Set variable value
(lower 16 bits)
First internal I/O port
address
First internal I/O port
address
52
Status area
Error
number
Variable
value (lower
16 bits)
I/O