Special IO commands(142-147)
Register:142(0x8E)
After the delay time has elapsed the controller digital output will be activated.
// Request:
00 01 00 02 00 07 8E 00 01 00 00 40 40
// Response:
00 01 00 02 00 02 8E 00
Register:143(0x8F)
After the delay time has elapsed the tool digital output will be activated.
// Request:
00 01 00 02 00 07 8F 00 01 00 00 40 40
// Response:
00 01 00 02 00 02 8F 00
Register:144(0x90)
Controller digital output will be activated when the robot reaches the specified area, which is valid for a single time
// Request:
00 01 00 02 00 13 90 00 01 00 00 c8 43 00 00 00 00 00 00 48 43 00 00 48 42
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 13 U16, Length
//90 U8, Register
//00 U8, Controller digital output number, 0~15, here is CO 0.
//01 U8, Digital output value, 0(low) or 1(high) , here is 1.
//00 00 c8 43 FP32, x=400mm
//00 00 00 00 FP32, y=0mm
//00 00 48 43 FP32, z=200mm
//00 00 48 42 FP32, tolerance radius, here is 50 mm.
* When the robot reaches the area (400,0,200) with the tolerance of 50 mm, controller digital outpout 0 will be set to 1(high).
*If the tolerance radius is not set, it will not work.
// Response:
00 01 00 02 00 02 90 00
Register:145(0x91)
Tool digital output will be activated when the robot reaches the specified area, which is valid for a single time
// Request:
00 01 00 02 00 13 91 00 01 00 00 c8 43 00 00 00 00 00 00 48 43 00 00 48 42
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 13 U16, Length
//91 U8, Register
//00 U8, Tool digital output number, 0~1, here is TO 0.
//01 U8, Digital output value, 0(low) or 1(high) , here is 1.
//00 00 c8 43 FP32, x=400mm
//00 00 00 00 FP32, y=0mm
//00 00 48 43 FP32, z=200mm
//00 00 48 42 FP32, tolerance radius, here is 50 mm.
* When the robot reaches the area (400,0,200) with the tolerance of 50 mm, tool digital outpout 0 will be set to 1(high) .
*If the tolerance radius is not set, it will not work.
// Response:
00 01 00 02 00 02 91 00
Register:146(0x92)
// Request:
00 01 00 02 00 03 92 00 01
// Response:
00 01 00 02 00 04 92 00 00 01
Register:147(0x93)
Controller analog output will be activated when the robot reaches the specified area, which is valid for a single time
// Request:
00 01 00 02 00 14 93 00 00 00 00 c8 43 00 00 00 00 00 00 48 43 00 00 48 42
//00 01 U16, Transaction ID
//00 02 U16, Protocol Identifier
//00 14 U16, Length
//93 U8, Register
//00 U8, Controller analog output number 0~1, here is 0.
//00 00 U16, Analog output value, range 0~4095, corresponding to 0~10 V.
//00 00 c8 43 FP32, x=400mm
//00 00 00 00 FP32, y=0mm
//00 00 48 43 FP32, z=200mm
//00 00 48 42 FP32, tolerance radius, here is 50 mm.
* When the robot reaches the area (400,0,200) with the tolerance of 50 mm, controller analog outpout 0 will be set to 0 V.
*If the tolerance radius is not set, it will not work.
// Response:
00 01 00 02 00 02 93 00