Fieldbus Expansion I/O Function; Interfacing Protocol - Janome JR3000 Series Operation Manual

7.8 Fieldbus Expansion I/O Function

By assigning teaching data such as point information or position data information to the Fieldbus
input/output area, you can set and obtain that information from an external PLC.
If you use this function, you can set and make position adjustments (override the settings) of the
robot's point information and offset information, etc., from an external PLC, via input from the Fieldbus.
NOTE: Depending on the Fieldbus type or the data amount settings, you may not be able to use
this function to its full extent.

7.8.1 Interfacing Protocol

The interfacing protocol between an external PLC and the robot is done by Handshake.
■ Input: External PLC sends, robot receives
fbIn1020 command instruction
fbIn103 command code
fbIn104 – parameter, setting data
■ Output: External PLC receives, robot sends
fbOut1820 command response
fbOut183 return code
fbOut184 – get data
The robot loads the command code upon retrieving the "fbIn1020 command instruction" input
signal, so you need to set the "fbIn103 command code" and the "fbIn104 – parameter, setting
data" signals before the external PLC turns ON the "fbIn1020 command instruction" input signal.
Because the robot writes the return code and obtained data at the same time the "fbOut1820
command response" output signal comes ON, load the "fbOut183 return code" and the "fbOut184 get
data" signals after confirming the external PLC "fbOut1820 command response" signal is indeed ON.
With the decay of the "fbIn1020 command instruction" input signal, the robot turns OFF the
"fbOut1820 command response" output signal.
External Control (I/O / Fieldbus) 83 DESKTOP ROBOT JR3000