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3.5.2.2 Using Each Signal Line
[ 1 ] 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).
(1) 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.
(2) Terminal numbers
Command area: No.35 to No.38 of connector CN8.
Data area 1: No.11 to No.18 of connector CN8.
Data area 2: No.19 to No.34 of connector CN8.
Command and data area odd parity: No.10 of connector CN8.
(3) Input conditions and operation
Set the command area whenever I/O commands are to be executed.
Set data for data areas 1 and 2 if commands require them.
"Shorted" represents the bit value = 1.
"Open" represents the bit value = 0.
"Parity bit " is odd parity.
Input the command area, data areas 1 and 2, and command and data
area odd parity before the strobe signal (1 msec. or more). Retain the
status until the command processing complete signal is output.
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.
Checksum can be set valid or invalid using a parameter. When
checksum is invalid, no checksum check will be performed.
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