Denso RC5 Specifications download pdf (Page 17)

CONTENTS

Preface.................................................................................................................................................................................i

How the documentation set is organized........................................................................................................................ ii

How this book is organized............................................................................................................................................. iii

SAFETY PRECAUTIONS...............................................................................................................................................1

Commands Listed in Alphabetical Order (Follows the Contents.)

Commands Listed According to Functions (Follows the Commands Listed in Alphabetical Order.)

PART 1 PROGRAM DESIGN

Chapter 1 Sample Program

1.1 Model Case Application ................................................................................................................................. 1-1

1.2 Program Flow................................................................................................................................................. 1-2

1.3 Program List ................................................................................................................................................... 1-3

Chapter 2 Program Flow

2.1 Calling a Program and Subroutine.................................................................................................................. 2-1

2.1.1 Calling a Subroutine................................................................................................................................... 2-2

2.1.2 Calling a Program....................................................................................................................................... 2-3

2.1.3 Program Recursive Call ............................................................................................................................. 2-4

2.2 Running a Program......................................................................................................................................... 2-5

2.2.1 Running from the Teach Pendant ............................................................................................................... 2-5

2.2.2 Running from the Operating Panel............................................................................................................. 2-5

2.2.3 Running from an External Device.............................................................................................................. 2-5

2.3 Multitasking.................................................................................................................................................... 2-6

2.3.1 Priority ....................................................................................................................................................... 2-6

2.3.2 Communication among Tasks .................................................................................................................... 2-6

2.4 Serial Communication.................................................................................................................................... 2-8

2.4.1 Circuit Number........................................................................................................................................... 2-8

2.4.2 Communication Command......................................................................................................................... 2-8

2.4.3 Clearing the Communication Buffer .......................................................................................................... 2-8

2.4.4 Sample Application .................................................................................................................................... 2-9

2.4.5 Serial Binary Transmission (Version 1.5 or later) .................................................................................... 2-13

2.5 Library.......................................................................................................................................................... 2-14

2.5.1 Program Bank........................................................................................................................................... 2-14

2.5.2 Palletizing Library.................................................................................................................................... 2-15

Chapter 3 Robot Motion

3.1 Absolute Motion and Relative Motion ........................................................................................................... 3-1

3.1.1 Absolute Motion......................................................................................................................................... 3-1

3.1.2 Relative Motion.......................................................................................................................................... 3-1

3.1.3 Absolute Motion and Relative Motion Examples ...................................................................................... 3-1

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Denso RC5 Specifications Page 17

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