Denso RC5 manual 3 I/O Commands Details List of I/O Commands, Table below lists I/O commands

3.5.3 I/O Commands Details

3.5.3.1List of I/O Commands

The table below lists I/O commands.

List of I/O Commands

Command area		Data area 1	Data area 2	Status area
0001	00000001	Program reset start	Program number	
Program operation	00000010	Program start	Program number	
	00000100	Continue start	(Note)
	00010000	Step stop	Program number	
	00100000	Instantaneous stop	Program number	
	01000000 Reset		Program number	
0010	00000001	Speed setting	Set speed value	
External speed and	00000010 Acceleration setting		Set acceleration	
acceleration setting	00000100	Deceleration setting	value	
			Set deceleration
			value
0100				Error
Error read				number
0101	Type I variable number		Set variable value	
Type I variable			(lower 16 bits)
write
0110	Type I variable number			Variable
Type I variable read				value (lower
				16 bits)
0111	00000001	Motor ON, CAL execution		
Mode switching	00000010	External speed 100
	10000000	External mode switching
	10000011 Execution of all above
	(Motor ON→ CAL→ SP100→ External)
1000				
Clear robot failure
1001	Set I/O value		First internal I/O port	
I/O write			address
1010			First internal I/O port	I/O
I/O read			address

(Note) In execution of Continue Start command, program numbers will be ignored.

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