Special IO commands(142-147)

Set controller digital output delay

Register:142(0x8E）

warning
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

Request Description

//00 01 U16, Transaction ID

//00 02 U16, Protocol Identifier

//00 07 U16, Length

//8E U8, Register

//00 U8, Controller digital output number 0~15, here is CO 0.

//01 U8, Digital output value, 0 or 1, here is 1.

//00 00 40 40 FP32, delay time, 3 seconds.

// Response:
00 01 00 02 00 02 8E 00

Response Description

//00 01 U16, Transaction ID

//00 02 U16, Protocol Identifier

//00 02 U16, Length

//8E U8, Register

//00 U8, State

Set tool digital output delay

Register:143(0x8F）

warning
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

Request Description

//00 01 U16, Transaction ID

//00 02 U16, Protocol Identifier

//00 07 U16, Length

//8F U8, Register

//00 U8, Tool digital output number, 0~1, here is TO 0.

//01 U8, Digital output value, 0 or 1, here is 1.

//00 00 40 40 FP32, delay time, 3 seconds.

// Response:
00 01 00 02 00 02 8F 00

Response Description

//00 01 U16, Transaction ID

//00 02 U16, Protocol Identifier

//00 02 U16, Length

//8F U8, Register

//00 U8, State

Position trigger of controller digital output

Register:144(0x90）

warning
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

Request Description

//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

Response Description

//00 01 U16, Transaction ID

//00 02 U16, Protocol Identifier

//00 02 U16, Length

//90 U8, Register

//00 U8, State

Position triggered of tool digital output

Register:145(0x91）

warning
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

Request Description

//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

Response Description

//00 01 U16, Transaction ID

//00 02 U16, Protocol Identifier

//00 02 U16, Length

//91 U8, Register

//00 U8, State

Whether the control box and terminal IO are automatically cleared in the STOP state

Register:146(0x92）

// Request:
00 01 00 02 00 03 92 00 01

Request Description

//00 01 U16, Transaction ID

//00 02 U16, Protocol Identifier

//00 03 U16, Length

//92 U8, Register

//00 U8,

IO type

0 represents the control box IO

1 represents the end IO

//01 U8,

Switch value

0 is off, the STOP status is not cleared

1 is on, and the STOP status is cleared

// Response:
00 01 00 02 00 04 92 00 00 01

Response Description

//00 01 U16, Transaction ID

//00 02 U16, Protocol Identifier

//00 04 U16, Length

//92 U8, Register

//00 U8, State

//00 01 U16, Parameter1

Position trigger of controller analog output

Register:147(0x93）

warning
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

Request Description

//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

Response Description

//00 01 U16, Transaction ID

//00 02 U16, Protocol Identifier

//00 02 U16, Length

//93 U8, Register

//00 U8, State