Contents
Preface......................................................................................................................................................... i
How the documentation set is organized ................................................................................................... ii
How this book is organized ....................................................................................................................... iii
SAFETY PRECAUTIONS
Chapter 1 General Information about RC5 Controller
1.1 Controller
Model
Name on Nameplate.......................................................................................... 1
1.2
Names of the Robot Controller Components ................................................................................. 4
1.3 Robot
Controller Specifications...................................................................................................... 7
1.4 Controller
System Configuration..................................................................................................11
1.4.1
Internal Circuits of the Controller (Typical configuration) ..................................................11
1.4.2
Typical Robot System Configurations .................................................................................. 12
Chapter 2 General Information about the Interface
2.1
Standard Mode and Compatible Mode ........................................................................................ 14
2.2 Switching
between Modes............................................................................................................ 14
2.3
Types and General Information about I/O Signals ..................................................................... 22
2.3.1 Standard
Mode...................................................................................................................... 22
2.3.2 Compatible
Mode .................................................................................................................. 23
2.4
Using User I/O Signals (common to both modes)........................................................................ 24
2.4.1 I/O
Type
Variable
Declaration .............................................................................................. 24
2.4.2 I/O
Global
Variables..................................................................................................... 24
2.4.3 I/O
Local
Variables....................................................................................................... 24
2.4.4 User
Input Commands.......................................................................................................... 24
2.4.5 User
Output Commands....................................................................................................... 25
Chapter 3 System I/O Signals
Standard Mode
3.1
Types and Functions of System Output Signals (Standard Mode)............................................. 26
