Rockwell Automation 8520 9/Series CNC Integration Maintenance Manual Documentation Set - Manual (Page 514)

Chapter 9B
Integrating Your Teach Pendant
9B-3
These are the 4 command types used by the teach pendant interface:
PAL
G01
Teach Pendant
Interface on CNC
Application Software
G01
Application Software
Teach Pendant
Interface on CNC
· Teach Pendant Ö PAL
· Teach Pendant Ö Application
· Teach Pendant Õ Unsolicited Application Command
· Illegal Command Received from Teach Pendant
Teach Pendant
Interface on CNC
This type of command is defined by the teach
pendant programmer.
The PAL programmer should refer to the PAL
reference manual for information on sending and
receiving these types of commands.
This type of command is pre-defined by the
teach interface software.
This type of command is sent only by the
CNC. It includes watchdog and error
messages.
This type of command is sent only by the
CNC when the teach pendant attempts to
send an illegal command.
Teach Pendant
Interface on CNC