IAI RoboNet - Page 109

89
Part 1 S
p
ecification
*1 T1: Set an appropriate time so that “T1 ≥ 0 ms” is satisfied, by considering the scan time of the host controller.
*2 Yt + 2Mt + Xt ≤ tdpf ≤ Yt + 2Mt + Xt + 7 (ms)
[1]
[2]
[4]
*
[3]
[5]
[6]
≤ 1Mt ≤ 1Mt
Command position number
(PLC → GW)
Start command
CSTR
(PLC → GW)
Position complete
PEND
(GW → PLC)
Completed position number
(GW → PLC)
Moving
MOVE
(GW → PLC)