Assignment Of Cc-Link Compatible I/O - Yamaha RCX Series User Manual

4. Assignment of CC-Link compatible I/O

4. Assignment of CC-Link compatible I/O

Chapter
The I/O expressions used in the robot controller's program language and the I/O
1
expressions for the remote device stations differ. The correspondence is shown below.
Output from robot controller
Program language
SOD(2)
SOD(4)
SOD(6)
SOD(8)
SOD(10)
SOD(12)
SOD(14)
1
*
SO0(7~0)
1
*
SO1(7~0)
SO2(7~0)
SO3(7~0)
SO4(7~0)
SO5(7~0)
SO6(7~0)
SO7(7~0)
SO10(7~0)
SO11(7~0)
SO12(7~0)
SO13(7~0)
SO14(7~0)
SO15(7~0)
------------
Caution)
*1: Has a meaning in the robot controller's internal process as a dedicated input/output. This cannot be
used as a general-purpose input/output in the robot program.
*2: This area is reserved for the CC-Link system.
*3: Has a meaning in the robot controller's internal process as a dedicated command region. This
cannot be used as a general-purpose input/output in the robot program.
1-4
Remote device station
3
*
SOW(0) RWr0
3
*
SOW(1) RWr1
SOW(2) RWr2
SOW(3) RWr3
SOW(4) RWr4
SOW(5) RWr5
SOW(6) RWr6
SOW(7) RWr7
SOW(8) RWr8
SOW(9) RWr9
SOW(10) RWrA
SOW(11) RWrB
SOW(12) RWrC
SOW(13) RWrD
SOW(14) RWrE
SOW(15) RWrF
RXn7~RXn0
RXnF~RXn8
RX(n+1)7~RX(n+1)0
RX(n+1)F~RX(n+1)8
RX(n+2)7~RX(n+2)0
RX(n+2)F~RX(n+2)8
RX(n+3)7~RX(n+3)0
RX(n+3)F~RX(n+3)8
RX(n+4)7~RX(n+4)0
RX(n+4)F~RX(n+4)8
RX(n+5)7~RX(n+5)0
RX(n+5)F~RX(n+5)8
RX(n+6)7~RX(n+6)0
RX(n+6)F~RX(n+6)8
RX(n+7)F~RX(n+7)0
Input to robot controller
Program language
3
*
SIW(0)
3
*
SIW(1)
SIW(2)
SID(2)
SIW(3)
SIW(4)
SID(4)
SIW(5)
SIW(6)
SID(6)
SIW(7)
SIW(8)
SID(8)
SIW(9)
SIW(10)
SID(10)
SIW(11)
SIW(12)
SID(12)
SIW(13)
SIW(14)
SID(14)
SIW(15)
1
*
SI0(7~0)
1
*
SI1(7~0)
SI2(7~0)
SI3(7~0)
SI4(7~0)
SI5(7~0)
SI6(7~0)
SI7(7~0)
SI10(7~0)
SI11(7~0)
SI12(7~0)
SI13(7~0)
SI14(7~0)
SI15(7~0)
2
*
------------
n: Address assigned to master module with station No. setting
n= (station No. - 1) x 2
Remote device station
RWw0
RWw1
RWw2
RWw3
RWw4
RWw5
RWw6
RWw7
RWw8
RWw9
RWwA
RWwB
RWwC
RWwD
RWwE
RWwF
RYn7~RYn0
RYnF~RYn8
RY(n+1)7~RY(n+1)0
RY(n+1)F~RY(n+1)8
RY(n+2)7~RY(n+2)0
RY(n+2)F~RY(n+2)8
RY(n+3)7~RY(n+3)0
RY(n+3)F~RY(n+3)8
RY(n+4)7~RY(n+4)0
RY(n+4)F~RY(n+4)8
RY(n+5)7~RY(n+5)0
RY(n+5)F~RY(n+5)8
RY(n+6)7~RY(n+6)0
RY(n+6)F~RY(n+6)8
2
*
RY(n+7)F~RY(n+7)0