IAI RoboNet, Operation Manual

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172
Part 1 Specification
4. Error pattern, with request
Caution
Notes on using the FB
•
Do not issue position data write commands successively, because these commands are
written to the flash memory area. The flash memory can be written only so many times.
•
If communication is cut off while the axis is moving (during jogging operation, etc.), the axis
will continue to operate. To prevent danger, provide a measure to allow the axis to be stopped
externally.
•
Do not use multiple instances of the same name. Duplication of assigned addresses will inhibit
normal operation.
EN input condition Connect the FB start condition input to the “start trigger” signal.
This FB is of constant execution type.
Limitation
- Input variables
•
If the value of any input variable is out of range, the ENO will be turned OFF and the FB will
not be executed.
- Output variables
•
Do not turn ON/OFF the output variable FB_BUSY from outside the FB.
GW control command
Command
Data write command
FB_Busy
GW control write
Command write
Axis data write
GW information read
Successful response
Error response
Error clear
If an error is received, the current communication will
be interrupted. However, commands will be received
continuously from the next processing.