IAI RoboNet Operation Manual page 136

Example of Overall RS485SIO Gateway Address Configuration
An example of connecting 12 axes operating in the positioner 1 mode or simple direct mode and two axes operating in the
direct numerical specification mode is shown.
PLC output ⇒ ROBONET
Register
Upper byte
address
F600* Gateway control signal 0
F601 Gateway control signal 1
F602
F603
F604
F605
F606
F607
F608 (Axis 0) Position data specification (L)
F609 (Axis 0) Position data specification (H)
F60A (Axis 0) Command position number
F60B
F60C (Axis 1) Position data specification (L)
F60D (Axis 1) Position data specification (H)
F60E (Axis 1) Command position number
F60F
F610 (Axis 2) Position data specification (L)
F611 (Axis 2) Position data specification (H)
F612 (Axis 2) Command position number
F613
F614 (Axis 3) Position data specification (L)
F615 (Axis 3) Position data specification (H)
F616 (Axis 3) Command position number
F617
F627
F637 (Axis 11) Control signal
F638 (Axis 12) Position data specification (L)
F639 (Axis 12) Position data specification (H)
F63A (Axis 12) Positioning band specification (L)
F63B (Axis 12) Positioning band specification (H)
F63C (Axis 12) Speed specification
F63D (Axis 12) Acceleration/deceleration specification
F63E (Axis 12) Push-current limiting value
F63F
F640 (Axis 13) Position data specification (L)
F641 (Axis 13) Position data specification (H)
F642 (Axis 13) Positioning band specification (L)
F643 (Axis 13) Positioning band specification (H)
F644 (Axis 13) Speed specification
F645 (Axis 13) Acceleration/deceleration specification
F646 (Axis 13) Push-current limiting value
F647
* With the RS485 SIO unit, the initial address is "0xF600H" for PLC ⇒ ROBONET messages, and "0xF700H" for ROBONET
⇒ PLC messages.
116
Lower byte
Request command
Data 0
Data 1
Data 2
Data 3
(Cannot be used.)
(Axis 0) Control signal
(Axis 1) Control signal
(Axis 2) Control signal
(Axis 3) Control signal
(Axis 7) Control signal
(Axis12) Control signal
(Axis13) Control signal
ROBONET⇒ PLC input
Relative
Upper byte
byte
0 Gateway status signal 0
2 Gateway status signal 1
4 Response command
6
8
10
12
14 (Cannot be used.)
16 (Axis 0) Current position data (L)
18 (Axis 0) Current position data (H)
20 (Axis 0) Completed position number
22 (Axis 0) Status signal
24 (Axis 1) Current position data (L)
26 (Axis 1) Current position data (H)
28 (Axis 1) Completed position number
30 (Axis 1) Status signal
32 (Axis 2) Current position data (L)
34 (Axis 2) Current position data (H)
36 (Axis 2) Completed position number
38 (Axis 2) Status signal
40 (Axis 3) Current position data (L)
42 (Axis 3) Current position data (H)
44 (Axis 3) Completed position number
46 (Axis 3) Status signal
78 (Axis 7) Status signal
110 (Axis 11) Status signal
112 (Axis 12) Current position data (L)
114 (Axis 12) Current position data (H)
116 (Axis 12) Current electrical current (L)
118 (Axis 12) Current electrical current (H)
120 (Axis 12) Current speed data
122 (Cannot be used)
124
126 (Axis 12) Status signal
128 (Axis 13) Current position data (L)
130 (Axis 13) Current position data (H)
132 (Axis 13) Current electrical current (L)
134 (Axis 13) Current electrical current (H)
136 (Axis 13) Current speed data
138 (Cannot be used.)
140
142 (Axis 13) Status signal
Part 1 Specification
Lower byte
Data 0
Data 1
Data 2
Data 3
(Axis 12) Alarm
(Axis 13) Alarm
Register
address
F700*
F701
F702
F703
F704
F705
F706
F707
F708
F709
F70A
F70B
F70C
F70D
F70E
F70F
F710
F711
F712
F713
F714
F715
F716
F717
F727
F737
F738
F739
F73A
F73B
F73C
F73D
F73E
F73F
F740
F741
F742
F743
F744
F745
F746
F747