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(3) The controller reads the command area and the data area according to the
input of Strobe Signal.
(4) The controller starts processing based on the command read.
(5) After completion of command processing, the controller turns ON the
Command Processing Completed signal.
If an error has occurred during processing, a Robot Error signal will be
outputted together with the Command Processing Completed signal.
Note: If the Strobe Signal is turned OFF before the Command Processing
Completed signal is turned ON, the Command Processing Completed
signal will be output and then turned OFF within 100 ms
(6) The PLC waits until the Command Processing Completed signal is input.
In this case, confirm that no error exists with the robot.
(7) The PLC turns OFF the command and data areas and the Strobe Signal.
(8) As soon as the Strobe Signal is turned OFF, the controller turns OFF the
Command Processing Completed signal.
The Robot Error signal, which is outputted due to a command processing
error, remains ON until Clear Robot Error (001) is executed.
Note: The maximum allowable time from when the Strobe Signal is turned
OFF until the Command Processing Completed signal is turned OFF, is 100
ms.
3.5.2.2 Using Each Signal Line
[ 1 ] Command and Data Areas
This section describes the usage of the command area (3 bits, input) and data
area (3 bits, input).
(1) Function
Specifies the commands to be executed by the Robot Controller.
Sets the command area at all times, and data area if necessary.
(2) Terminal numbers
Command area: #16 to #18 on connector CN5.
Data area: #13 to #15 on connector CN5.
(3) Input conditions and operation
(a) Set the command area whenever I/O commands are to be executed. Set
data for data area if commands require them.
(b) "Shorted" represents the bit value = 1.
"Open" represents the bit value = 0.
(c) Input the command area and data area before the Strobe Signal (1 ms or
more). Retain the status until the Command Processing Completed signal
is output.
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