Denso RC5 Commands to be executed are processed as shown below, Outline of I/O Command Processing

3.5.2 Processing I/O Commands

3.5.2.1General Information about Processing

I/O commands to be executed are processed as shown below.

⋅ Command Area (input)	Q	X
⋅ Data Area (input)
⋅ Command and Data	Area
Odd Parity (input)		S

X

⋅ Strobe Signal (input) R

U

Note • 1 ms or more

⋅ Status Area (output)

⋅ Status Parity (output)

⋅ Command processing complete (output) V

Y

Y

⋅ Robot Error (output)	Note „ 100 ms. or less
	V

Outline of I/O Command Processing

46