Input/Output Assignments - Yamaha RCX340 User Manual

3.

Input/output assignments

Here we show the correspondence between the robot controller's serial input/output data and the input/
output data on the network.
Output from the controller, input to the host control device
■
Host control device
Address (READ)
m
SOW(0)
m + 1
m + 2
SOW(1)
m + 3
m + 4
SOW(2)
m + 5
m + 6
SOW(3)
m + 7
m + 8
SOW(4)
m + 9
m + 10
SOW(5)
m + 11
m + 12
SOW(6)
m + 13
m + 14
SOW(7)
m + 15
m + 16
SOW(8)
m + 17
m + 18
SOW(9)
m + 19
m + 20
SOW(10)
m + 21
m + 22
SOW(11)
m + 23
m + 24
SOW(12)
m + 25
m + 26
SOW(13)
m + 27
m + 28
SOW(14)
m + 29
m + 30
SOW(15)
m + 31
m + 32
m + 33
m + 34
m + 35
m + 36
m + 37
m + 38
m + 39
m + 40
m + 41
m + 42
m + 43
m + 44
m + 45
m + 46
m + 47
• Each address is 8 bit data.
• SOn() is handled as unsigned 8-bit integer data.
• SOW(n) is handled as unsigned 16-bit integer data.
• SOD(n) is handled as signed 32-bit integer data.
• The upper word and lower word of SOD(n) correspond to SOW(n+1) and SOW(n), respectively.
Address (WRITE)
-
SOD(2)
SOD(4)
SOD(6)
SOD(8)
SOD(10)
SOD(12)
SOD(14)
SO07 - SO00
SO17 - SO10
SO27 - SO20
SO37 - SO30
SO47 - SO40
SO57 - SO50
SO67 - SO60
SO77 - SO70
SO107 - SO100
SO117 - SO110
SO127 - SO120
SO137 - SO130
SO147 - SO140
SO157 - SO150
SO167 - SO160
SO177 - SO170
Controller
Input/output type
Word output
Remote command error code area
Word output /
Double word output
Bit output
Bit output /
Byte output
Reserved area
m: Starting address of the input data area for the target controller
Use
Command status area
Command response area /
General-purpose output area
Status output area
General-purpose output area
Use is prohibited
7
3