STE 80722
– 49 –
IO IO information acquisition
WD Watchdog execution
AH Alarm history acquisition
HO Output signal write X X X X
VL
Robot tip speed information
acquisition
SM Motion status acquisition
HI Input signal read X X X X
ZC
3-axis origin position change
information acquisition
EM
Controller mode change
execution
X X X
X
: Valid, X: Invalid, : Valid when the robot is stopped
Commands transmitted from the host computer to the controller can be received by
the controller in the modes marked "
".
Commands transmitted from the controller to the host computer can be transmitted
by the controller in the mode marked "
".
Note: All external control input signals are also limited by a mater mode.
For details, see the Interface Manual.
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