4.2. Relay Description
4.2. Relay Description
For the each relay bit, byte, word, long and float type can be assigned by using prefix (B/W/L/F). For bit (T/C) of Timer and Counter, it is in activation when the value is 0, or else it is in deactivation.
(1) Digital Input / Output Relay: It is a signal that can be used for HR Basic or various Input / Output allocations.
(2) RIO Input / Output Relay:
The signals are the I/O signals of the BD580 board or of the DeviceNet slave nodes connected to the embedded DeviceNet master.
(3) Fieldbus Relay:
The signals are the I/O signals of the field bus or real-time Ethernet connected through the BD521, BD522, BD525, BD570 and BD58A boards
(4) Auxiliary Relay: Auxiliary relay that is used by PLC program.
(5) Nonvolatile Relay: This relay retains the On/Off status even if the power goes Off.
(6) Special Relay: It is a relay that defined for special purposes. Refer to section 4.2.1.
(7) Timer Relay:
It is a relay for timer operation and contact point will be On when the value is 0.
(It will be reserved when power goes out).
(8) Counter Relay:
It is a relay for counter operation and contact point will be On when the value is 0.
(It will be reserved when power goes out).
(9) Data Memory:
It is used when applied commands save or read certain Data, and it also can be used when huge amount of data is being exchanged with HRBasic because HRBasic can access to it. (It will be reserved when power goes out).
(10) System Memory (Reserved):
It is used when reading or writing system values within a controller. Refer to section 4.2.2.
4.2.3. SW40-59 Relay– Reading the current robot pose in 16 bits
4.2.4. SW40-59 Relay– Reading the current robot pose in 32 bits
4.2.5. SW220~249 Relay– System Variables
4.2.6. SW220~249 Relay–Mainboard storage space
4.2.7. SW220~249 Relay– Analog I/O