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3.5.2 Processing I/O Commands
3.5.2.1 General Information about Processing
I/O commands to be executed are processed as shown below.
Outline of I/O Command Processing
(1) Set a command area and a data area (if necessary) for the command
execution I/O signal from the external device to the robot controller.
Note: The data to be set must be defined at least 1 ms before the Strobe
Signal is turned ON
(2) After completion of setting, turn the Strobe Signal ON.
Note: The command input with a Strobe Signal should be preceded by the
output of the Robot Initialized. If a Robot Error signal has been issued,
however, execute a Clear Robot Error (001) since no Robot Initialized will
be issued.
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