IAI RoboNet - Page 111

91
Part 1 S
p
ecification
*1 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 (msec)
*3 twcsON ≥ 1Mt
*4 twcsOFF ≥ 1Mt
[1]
[2]
[3]
[4]
[5]
[6]
[7]
[8]
*3
twcsON
*4
twcsOFF
*2
tdpf
≤
1Mt
≤
1Mt
Command position number
(PLC → GW)
Start command
CSTR
(PLC → GW)
Position complete
PEND
(GW → PLC)
Current position
(GW → PLC)
Moving
MOVE
(GW → PLC)
Position data setting
(PLC → GW)
*1