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Contents
Preface......................................................................................................................................................... i
How the documentation set is organized ...................................................................................................ii
How this book is organized .......................................................................................................................iii
SAFETY PRECAUTIONS
Chapter 1 General Information about RC5 Controller
1.1 Controller Model Name on Nameplate..........................................................................................1
1.2 Names of the Robot Controller Components ................................................................................. 4
1.3 Robot Controller Specifications...................................................................................................... 7
1.4 Controller System Configuration..................................................................................................11
1.4.1 Internal Circuits of the Controller (Typical configuration) ..................................................11
1.4.2 Typical Robot System Configurations .................................................................................. 12
Chapter 2 General Information about the Interface
2.1 Standard Mode and Compatible Mode ........................................................................................ 14
2.2 Switching between Modes............................................................................................................ 14
2.3 Types and General Information about I/O Signals ..................................................................... 22
2.3.1 Standard Mode...................................................................................................................... 22
2.3.2 Compatible Mode .................................................................................................................. 23
2.4 Using User I/O Signals (common to both modes)........................................................................ 24
2.4.1 I/O Type Variable Declaration .............................................................................................. 24
2.4.2 I/O Type Global Variables..................................................................................................... 24
2.4.3 I/O Type Local Variables....................................................................................................... 24
2.4.4 User Input Commands.......................................................................................................... 24
2.4.5 User Output Commands....................................................................................................... 25
Chapter 3 System I/O Signals Standard Mode
3.1 Types and Functions of System Output Signals (Standard Mode)............................................. 26