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3.5.2 Processing I/O Commands
3.5.2.1 General Information about Processing
I/O commands to be executed are processed as shown below.
⋅ Command Area (input)
⋅ Data Area (input)
⋅ Command and Data Area
Odd Parity (input)
⋅
Strobe Signal (input)
⋅
Status Area (output)
⋅ Status Parity (output)
⋅ Command processing complete (output)
⋅ Robot Error (output)
Q
S
X
X
R
U
Y
Y
V
V
Note 100 ms. or less
Note 1 ms or more
Outline of I/O Command Processing