Rainbow Robotics RB Series, Руководство пользователя

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RAINBOW ROBOTICS
RB SERIES _ USER MANUAL
© RAINBOW ROBOTICS Inc. All rights reserved.
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4. Word(16 bit) Address Map
Word Address
Address Function Read Write Comments
0
Box digital input
0~15
o x
[BBBB BBBB BBBB
BBBB]
1
Box digital output
0~15
o o
[BBBB BBBB BBBB
BBBB]
2 Box analog input 0 o x 1mV unit
3 Box analog input 1 o x 1mV unit
4 Box analog input 2 o x 1mV unit
5 Box analog input 3 o x 1mV unit
6 Box analog output 0 o o 1mV unit
7 Box analog output 1 o o 1mV unit
8 Box analog output 2 o o 1mV unit
9 Box analog output 3 o o 1mV unit
10
Extend digital input
0~15
o x
[BBBB BBBB BBBB
BBBB]
11
Extend digital output
0~15
o x
[BBBB BBBB BBBB
BBBB]
12 Extend analog input 0 o x 1mV unit
13 Extend analog input 1 o x 1mV unit
14 Extend analog input 2 o x 1mV unit
15 Extend analog input 3 o x 1mV unit
16
Extend analog output
0
o o 1mV unit
17
Extend analog output
1
o o 1mV unit
18
Extend analog output
2
o o 1mV unit
19
Extend analog output
3
o o 1mV unit
20~29 Reserved (Box IO)
30 Tool output voltage o o 0, 12, 24
31 Tool digital input 0~1 o x [TTxx xxxx xxxx xxxx]
32
Tool digital output
0~1
o o [TTxx xxxx xxxx xxxx]
33 Tool analog input 0 o x 1mV unit
34 Tool analog input 1 o x 1mV unit
35~49 Reserved (Tool IO)
50 Is Robot Activated o x 0 or 1
51 Is Real-mode o x 0 or 1
52 Is Collision Detected o x 0 or 1
53
Is Robot arm power
engaged
o x 0 or 1