3.5.2.2Using Each Signal Line

[ 1 ] Command and Data Areas

This section describes the usage of the command area (4 bits, input), data area 1 (8 bits, input), data area 2 (16 bits, input) and command and data area odd parity (input).

(1)Function

Specifies the commands to be executed by the Robot Controller.

Sets the command area at all times, and data areas 1 and 2, if necessary.

(2)Terminal numbers

Command area: No.35 to No.38 of connector CN8.

Data area 1: No.11 to No.18 of connector CN8.

Data area 2: No.19 to No.34 of connector CN8.

Command and data area odd parity: No.10 of connector CN8.

(3)Input conditions and operation

Set the command area whenever I/O commands are to be executed. Set data for data areas 1 and 2 if commands require them.

"Shorted" represents the bit value = 1.

"Open" represents the bit value = 0. "Parity bit " is odd parity.

ƒInput the command area, data areas 1 and 2, and command and data area odd parity before the strobe signal (1 msec. or more). Retain the status until the command processing complete signal is output.

Input 1 or 0 as the parity bit so that the total of 1s existing in the command area, data areas 1 and 2 and the command and data area

odd parity will be odd

The data areas count even commands, which do not require any data area, in a check sum calculation.

Checksum can be set valid or invalid using a parameter. When checksum is invalid, no checksum check will be performed.

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Denso RC5 manual Using Each Signal Line, Terminal numbers