Denso RC5 - Manual (Page 66)

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3.5.2 Processing I/O Commands
3.5.2.1 General Information about Processing
I/O commands to be executed are processed as shown below.
⋅
Command Area (input)
⋅
Data Area (input)
⋅
Command and Data Area
Odd Parity (input)
⋅
Strobe Signal (input)
⋅
Status Area (output)
⋅
Status Parity (output)
⋅
Command processing complete (output)
⋅
Robot Error (output)
Q
S
X
X
R
U
Y
Y
V
V
Note „ 100 ms. or less
Note  1 ms or more
Outline of I/O Command Processing