7
Procedure before Startup
Have A Try For It
7
- 39
7.4.4
A Sample Program for Checking Input/Output
Shown below is a sample program which can be used for checking input/output on the 2D
-TZ577 Card.
Use this program during a checkup at startup or as otherwise required.
Table 7-7 Signal Alignment Conditions
Robot-side input (Master Station output)
Input 2000~3535 (equivalent to 96 words)
Robot-side output (Master Station input)
Output 2000~3535 (equivalent to 96 words)
Robot program specification
Input bits ar
e copied in their entirety onto output bits.
[Robot Program
-
Example 1]
Input signals to the Robot are looped back in their entirety to output signals (for the purpose of bit check).
For M1 =
2000 To 3535
M_Out(M1) =
M_In(M1)
' Copied in the form of a variable for bit
Next M1
End
[Robot Program
-
Example 2]
Input signals to the Robot are looped back in their entirety to output signals (for the purpose of byte check).
For M1 =
2000 To 3535 Step 8
M_Outb(M1) = M_Inb(M1) '
Copied in the form of a variable for byte
Next M1
End
[Robot Program
-
Example 3]
Input signals to the Robot are looped back in their entirety to output signals (for the purpose of word check).
For M1 =
2000 To 3535 Step 16
M_Outw(M1) = M_Inw(M1) '
Copied in the form of a variable for word
Next M1
End
Run this program and check the looped-back signals on the side of the Master Station.
