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3.5.3 I/O Commands Details
3.5.3.1 List 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
Program operation
00000001 Program reset start
00000010 Program start
00000100 Continue start
00010000 Step stop
00100000 Instantaneous stop
01000000 Reset
Program number
Program number
(Note)
Program number
Program number
Program number
0010
External speed and
acceleration setting
00000001 Speed setting
00000010 Acceleration setting
00000100 Deceleration setting
Set speed value
Set acceleration
value
Set deceleration
value
0100
Error read
Error
number
0101
Type I variable
write
Type I variable number
Set variable value
(lower 16 bits)
0110
Type I variable read
Type I variable number
Variable
value (lower
16 bits)
0111
Mode switching
00000001 Motor ON, CAL execution
00000010 External speed 100
10000000 External mode switching
10000011 Execution of all above
(Motor ON→CAL→SP100→External)
1000
Clear robot failure
1001
I/O write
Set I/O value First internal I/O port
address
1010
I/O read
First internal I/O port
address
I/O
(Note) In execution of Continue Start command, program numbers will be ignored.