Concurrent I/O•Parameter - Motoman

1.1 Features of Concurrent I/O1 Concurrent I/OConcurrent I/O control is an I/O control function that processes controls relative to the XRCI/O independent of the manipulator operation (in parallel with manipulator operation).Features of Concurrent I/OTerminals and connectors to which I/O signals are connected can be used effectively.Terminals and connectors are provided for connecting I/O signals. Although the number ofconnections are limited, the terminals can be used effectively because only the necessary signalscan be selected and connected to the desired terminal.Instructions relative to the I/O (Robot Language: INFORM II) can be simplified for smoothmanipulator operation.Fixed procedures relative to the I/O can be registered as independent ladder programs, thusenabling simplification of I/O instructions of the job (operation program) and reducing interruptions.Reserved signals can be accepted while the manipulator is operating.Reserved signals can be accepted during operation since manipulator operation processingand I/O processing can be executed at the same time.Construction and Specifications of the ConcurrentI/OThe Concurrent I/O consists of the following two blocks.SYSTEM LADDERSECTION (PART 1)USER LADDERSECTION (PART 2)Construction of Concurrent I/O Ladder Program1-1